#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/range_image/range_image.h> //關於深度圖像的頭文件
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/range_image_visualizer.h> //深度圖可視化的頭文件
#include <pcl/visualization/pcl_visualizer.h> //PCL可視化的頭文件
#include <pcl/console/parse.h>
typedef pcl::PointXYZ PointType;
//參數
float angular_resolution_x = 0.5f,//angular_resolution爲模擬的深度傳感器的角度分辨率,即深度圖像中一個像素對應的角度大小
angular_resolution_y = angular_resolution_x;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;//深度圖像遵循座標系統
bool live_update = false;
//命令幫助提示
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]);
}
//主函數
int
main (int argc, char** argv)
{
//輸入命令分析
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);
//讀取點雲PCD文件 如果沒有輸入PCD文件就生成一個點雲
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 ()); //申明傳感器的位置是一個4*4的仿射變換
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;
}
//給傳感器的位姿賦值 就是獲取點雲的傳感器的的平移與旋轉的向量
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
{ //如果沒有給點雲,則我們要自己生成點雲
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;
}
// -----從創建的點雲中獲取深度圖--//
//設置基本參數
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);
pcl::RangeImage& range_image = *range_image_ptr;
/*
關於range_image.createFromPointCloud()參數的解釋 (涉及的角度都爲弧度爲單位) :
point_cloud爲創建深度圖像所需要的點雲
angular_resolution_x深度傳感器X方向的角度分辨率
angular_resolution_y深度傳感器Y方向的角度分辨率
pcl::deg2rad (360.0f)深度傳感器的水平最大采樣角度
pcl::deg2rad (180.0f)垂直最大采樣角度
scene_sensor_pose設置的模擬傳感器的位姿是一個仿射變換矩陣,默認爲4*4的單位矩陣變換
coordinate_frame定義按照那種座標系統的習慣 默認爲CAMERA_FRAME
noise_level 獲取深度圖像深度時,鄰近點對查詢點距離值的影響水平
min_range 設置最小的獲取距離,小於最小的獲取距離的位置爲傳感器的盲區
border_size 設置獲取深度圖像邊緣的寬度 默認爲0
*/
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);
//可視化點雲
pcl::visualization::PCLVisualizer viewer ("3D Viewer");
viewer.setBackgroundColor (1, 1, 1);
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 ();
//range_image.getTransformationToWorldSystem ()的作用是獲取從深度圖像座標系統(應該就是傳感器的座標)轉換爲世界座標系統的轉換矩陣
setViewerPose(viewer, range_image.getTransformationToWorldSystem ()); //設置視點的位置
//可視化深度圖
pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
range_image_widget.showRangeImage (range_image);
while (!viewer.wasStopped ())
{
range_image_widget.spinOnce ();
viewer.spinOnce ();
pcl_sleep (0.01);
if (live_update)
{
//如果選擇的是——l的參數說明就是要根據自己選擇的視點來創建深度圖。
// live update - update the range image according to the selected view in the 3D viewer.
scene_sensor_pose = viewer.getViewerPose();
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);
range_image_widget.showRangeImage (range_image);
}
}
}