range_image_creation.cpp

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/* \author Bastian Steder */

#include "pcl/range_image/range_image.h"

int main (int argc, char** argv) {
  pcl::PointCloud<pcl::PointXYZ> pointCloud;
  
  // Generate the data
  for (float y=-0.5f; y<=0.5f; y+=0.01f) {
    for (float z=-0.5f; z<=0.5f; z+=0.01f) {
      pcl::PointXYZ point;
      point.x = 2.0f - y;
      point.y = y;
      point.z = z;
      pointCloud.points.push_back(point);
    }
  }
  pointCloud.width = pointCloud.points.size();
  pointCloud.height = 1;
  
  // We now want to create a range image from the above point cloud, with a 1° angular resolution
  float angularResolution =   1.0f * (M_PI/180.0f);  //   1.0 degree in radians
  float maxAngleWidth     = 360.0f * (M_PI/180.0f);  // 360.0 degree in radians
  float maxAngleHeight    = 180.0f * (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::CAMERA_FRAME;
  float noiseLevel=0.00;
  float minRange = 0.0f;
  int borderSize = 1;
  
  pcl::RangeImage rangeImage;
  rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight,
                                  sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);
  
  std::cout << rangeImage << "\n";
}