问题1
《点云库PCL从入门到精通》第五章 2 range_image_visualization 可视化深度图像例程时
编译器报错"camera_":不是"pcl::visualization::PCLVisualizer"的成员,报错代码如下:
viewer.camera_.pos[0] = pos_vector[0]; viewer.camera_.pos[1] = pos_vector[1]; viewer.camera_.pos[2] = pos_vector[2]; viewer.camera_.focal[0] = look_at_vector[0]; viewer.camera_.focal[1] = look_at_vector[1]; viewer.camera_.focal[2] = look_at_vector[2]; viewer.camera_.view[0] = up_vector[0]; viewer.camera_.view[1] = up_vector[1]; viewer.camera_.view[2] = up_vector[2];
解决:PCL1.8的viewer已经没有camera_了,应使用函数setCameraPosition()替换。修改后的代码如下:
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]);
boost::shared_ptr是可以共享所有权的指针,如果有多个这样的指针都指向同一个对象时,只有所有的指针都不指向该对象时,对象才会被销毁。
生成深度图的代码,目前有很多不懂得地方,需要下一步弄懂
#include <iostream> #include <boost/thread/thread.hpp> #include <pcl/common/common_headers.h> #include <pcl/common/common_headers.h> #include <pcl/range_image/range_image.h> #include <pcl/io/pcd_io.h> #include <pcl/visualization/range_image_visualizer.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/console/parse.h> typedef pcl::PointXYZ PointType; // 全局参数 float angular_resolution = 0.5f; pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME; bool live_update = false; // -----打印帮助----- void printUsage(const char* progName) { std::cout << "\n\nUsage: " << progName << " [options] <scene.pcd>\n\n" << "Options:\n" << "-------------------------------------------\n" << "-r <float> angular resolution in degrees (default " << angular_resolution << ")\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]); } // -----Main----- 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, "-r", angular_resolution) >= 0) std::cout << "Setting angular resolution to " << angular_resolution << "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 = pcl::deg2rad(angular_resolution); 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; } /* 关于range_image.createFromPointCloud()参数的解释 (涉及的角度都为弧度为单位) : point_cloud为创建深度图像所需要的点云 angular_resolution_x深度传感器X方向的角度分辨率 angular_resolution_y深度传感器Y方向的角度分辨率 pcl::deg2rad (360.0f)深度传感器的水平最大采样角度 pcl::deg2rad (180.0f)垂直最大采样角度 scene_sensor_pose设置的模拟传感器的位姿是一个仿射变换矩阵,默认为4*4的单位矩阵变换 coordinate_frame定义按照那种坐标系统的习惯 默认为CAMERA_FRAME noise_level 获取深度图像深度时,邻近点对查询点距离值的影响水平 min_range 设置最小的获取距离,小于最小的获取距离的位置为传感器的盲区 border_size 设置获取深度图像边缘的宽度 默认为0 */ 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; range_image.createFromPointCloud(point_cloud, angular_resolution, pcl::deg2rad(360.0f), pcl::deg2rad(180.0f), scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size); pcl::visualization::PCLVisualizer viewer("3D Viewer"); viewer.setBackgroundColor(1, 1, 1); pcl::visualization::PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 0, 0, 0); viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud"); //添加点云 //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.initCameraParameters(); setViewerPose(viewer, range_image.getTransformationToWorldSystem()); //显示深度图像 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) { scene_sensor_pose = viewer.getViewerPose(); range_image.createFromPointCloud(point_cloud, angular_resolution, 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); } } }