pcl::RangeImage create or visualize

[xiaocer]

I run this program and got an error

#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
#include <pcl/range_image/range_image.h>
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],
look_at_vector[0], look_at_vector[1], look_at_vector[2],
up_vector[0], up_vector[1], up_vector[2]);
}
*/

// 主函数
int main(int argc, char** argv)
{
    //解析命令行参数
    if (pcl::console::find_argument(argc, argv, "-h") >= 0)
    {
        printUsage(argv[0]);
        return 0;
    }
    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;
    pcl::RangeImage::Ptr 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(.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
    //  }
    //  //float* ranges = range_image.getRangesArray();
    //  //unsigned char* rgb_image = pcl::visualization::getVisualImage(ranges, range_image.width, range_image.height);
    //  //pcl::io::saveImage("saveRangeImageRGB.png", range_image, range_image.width, range_image.height);
    //}
}

environment：vs2022 + pcl 1.13.1

[mvieth]

@xiaocer How did you install PCL? How do you build your own program? Do you use CMake?

[xiaocer]

Hi bro,Neither uses CMake。I use thisblogto install PCL and build the program's.

[mvieth]

@xiaocer I strongly recommend to use CMake to build your own program. Specific options related to memory alignment (SSE, AVX, AVX2) need to be set such that your program is compiled with the same options as PCL. CMake handles this automatically.