点云创建深度图像并保存为图片

 博客参考：http://pointclouds.org/documentation/tutorials/range_image_creation.php#range-image-creation 和 https://blog.csdn.net/baidu_26408419/article/details/53912532

依据点云信息生成深度图像(投影定理和正交定理)

#include <pcl/io/png_io.h>
#include <pcl/range_image/range_image.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/common/float_image_utils.h>
#include <pcl/visualization/range_image_visualizer.h>  

#include <Eigen/Core>
using namespace Eigen;

float angularResolution = (float)(0.1f * (M_PI / 180.0f));  //   1.0 degree in radians
float maxAngleWidth = (float)(60.0f * (M_PI / 180.0f));  // 360.0 degree in radians
float maxAngleHeight = (float)(45.0f * (M_PI / 180.0f));  // 180.0 degree in radians
Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::LASER_FRAME;
		
float noiseLevel = 0.00;
float minRange = 0.0f;
int borderSize = 1;

pcl::RangeImage rangeImage;
rangeImage.createFromPointCloud(*rangePoints, angularResolution, maxAngleWidth, maxAngleHeight, sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);

显示或者保存深度图像

//可视化深度图
//pcl::visualization::RangeImageVisualizer range_image_widget("Range image");
//range_image_widget.showRangeImage(rangeImage);

float* ranges = rangeImage.getRangesArray();
unsigned char* rgb_image = pcl::visualization::FloatImageUtils::getVisualImage(ranges, rangeImage.width, rangeImage.height);
pcl::io::saveRgbPNGFile("saveRangeImageRGB.png", rgb_image, rangeImage.width, rangeImage.height);