PCL系列——如何可视化深度图像¶

PCL系列¶

说明¶

通过本教程，我们将会学会：

如何通过两种方式可视化深度图像。
一种方式是在3D viewer中以点云的方式显示。（深度图来源于点云图）
一种方式是作为一幅图像显示（以不同的颜色表示不同的深度值）

操作¶

在VS2010 中新建一个文件 range_image_visualization.cpp，然后将下面的代码复制到文件中。
参照之前的文章，配置项目的属性。设置包含目录和库目录和附加依赖项。

#include <iostream> //标准输入/输出
#include <boost/thread/thread.hpp> //多线程
#include <pcl/common/common_headers.h>
#include <pcl/range_image/range_image.h> //深度图有关头文件
#include <pcl/io/pcd_io.h> //pcd文件输入/输出
#include <pcl/visualization/range_image_visualizer.h> //深度图可视化
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h> //命令行参数解析

typedef pcl::PointXYZ PointType;


//参数 全局
float angular_resolution_x = 0.5f, //角分辨率（单位弧度）
      angular_resolution_y = angular_resolution_x;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME; //坐标帧（相机帧）
bool live_update = true; //是否根据选择的视角更新深度图像

// 打印帮助信息
void printUsage (const char* progName)
{
  std::cout << "\n\nUsage: "<<progName<<" [options] <scene.pcd>\n\n"
            << "Options:\n"
            << "-------------------------------------------\n"
            << "-rx <float>  angular resolution in degrees (default "<<angular_resolution_x<<")\n"
            << "-ry <float>  angular resolution in degrees (default "<<angular_resolution_y<<")\n"
            << "-c <int>     coordinate frame (default "<< (int)coordinate_frame<<")\n"
            << "-l           live update - update the range image according to the selected view in the 3D viewer.\n"
            << "-h           this help\n"
            << "\n\n";
}

/*
void setViewerPose (pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
{
  Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f(0, 0, 0);
  Eigen::Vector3f look_at_vector = viewer_pose.rotation () * Eigen::Vector3f(0, 0, 1) + pos_vector;
  Eigen::Vector3f up_vector = viewer_pose.rotation () * Eigen::Vector3f(0, -1, 0);
  viewer.setCameraPosition (pos_vector[0], pos_vector[1], pos_vector[2],
                       <!-- more -->
  }
  if (pcl::console::find_argument (argc, argv, "-l") >= 0)
  {
    live_update = true;
    std::cout << "Live update is on.\n";
  }
  if (pcl::console::parse (argc, argv, "-rx", angular_resolution_x) >= 0)
    std::cout << "Setting angular resolution in x-direction to "<<angular_resolution_x<<"deg.\n";
  if (pcl::console::parse (argc, argv, "-ry", angular_resolution_y) >= 0)
    std::cout << "Setting angular resolution in y-direction to "<<angular_resolution_y<<"deg.\n";
  int tmp_coordinate_frame;
  if (pcl::console::parse (argc, argv, "-c", tmp_coordinate_frame) >= 0)
  {
    coordinate_frame = pcl::RangeImage::CoordinateFrame (tmp_coordinate_frame);
    std::cout << "Using coordinate frame "<< (int)coordinate_frame<<".\n";
  }
  angular_resolution_x = pcl::deg2rad (angular_resolution_x);
  angular_resolution_y = pcl::deg2rad (angular_resolution_y);
  
  //读取pcd文件。如果没有指定文件，则创建样本云点
  pcl::PointCloud<PointType>::Ptr point_cloud_ptr (new pcl::PointCloud<PointType>);
  pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
  Eigen::Affine3f scene_sensor_pose (Eigen::Affine3f::Identity ());
  std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument (argc, argv, "pcd");
  if (!pcd_filename_indices.empty ())
  {
    std::string filename = argv[pcd_filename_indices[0]];
    if (pcl::io::loadPCDFile (filename, point_cloud) == -1)
    {
      std::cout << "Was not able to open file \""<<filename<<"\".\n";
      printUsage (argv[0]);
      return 0;
    }
    scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f (point_cloud.sensor_origin_[0],
                                                             point_cloud.sensor_origin_[1],
                                                             point_cloud.sensor_origin_[2])) *
                        Eigen::Affine3f (point_cloud.sensor_orientation_);
  }
  else
  {
    std::cout << "\nNo *.pcd file given => Genarating example point cloud.\n\n";
    for (float x=-0.5f; x<=0.5f; x+=0.01f)
    {
      for (float y=-0.5f; y<=0.5f; y+=0.01f)
      {
        PointType point;  point.x = x;  point.y = y;  point.z = 2.0f - y;
        point_cloud.points.push_back (point);
      }
    }
    point_cloud.width = (int) point_cloud.points.size ();  point_cloud.height = 1;
  }
  
  //从点云创建出深度图
  float noise_level = 0.0;
  float min_range = 0.0f;
  int border_size = 1;
  boost::shared_ptr<pcl::RangeImage> range_image_ptr(new pcl::RangeImage); //深度图指针
  pcl::RangeImage& range_image = *range_image_ptr;   //引用
  range_image.createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y,
                                    pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
                                    scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size); //从点云创建出深度图
  
  //打开一个3D图形窗口，并添加点云数据
  pcl::visualization::PCLVisualizer viewer ("3D Viewer");
  viewer.setBackgroundColor (1, 1, 1); //背景
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
  viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
  viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
  //viewer.addCoordinateSystem (1.0f, "global");
  //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
  //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
  viewer.initCameraParameters ();
  //setViewerPose(viewer, range_image.getTransformationToWorldSystem ()); //PCL 1.6 出错
  
  //以图像的形式显示深度图像，深度值作为颜色显示
  pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
  range_image_widget.showRangeImage (range_image);
  

  //主循环
  while (!viewer.wasStopped ())
  {
    range_image_widget.spinOnce ();
    viewer.spinOnce ();
    pcl_sleep (0.01);
    
    if (live_update) //根据3D显示，实时更新2D图像
    {
      scene_sensor_pose = viewer.getViewerPose(); //获取观测姿势
      range_image.createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y,
                                        pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
                                        scene_sensor_pose, pcl::RangeImage::LASER_FRAME, noise_level, min_range, border_size); //重新生成新的深度图
      range_image_widget.showRangeImage (range_image); //重新显示
    }
  }
}

重新生成项目。
到改项目的Debug目录下，按住Shift，同时点击鼠标右键，在当前窗口打开CMD窗口。
在命令行中输入range_image_visualization.exe，执行程序。结果如下图所示。
- 图1是命令行的显示，因为没有指定pcd文件，程序生成了点云数据。
- 图2是2D显示方式。
- 图3是3D显示方式。
- 2D显示方式会随3D显示的变化而自动变化。图1 图2 图3

参考¶

How to visualize a range image