pcl轉深度圖主要是createFromPointCloud()函式,引數配置基本可以不變,照這個寫就行.儲存主要是兩個函式getVisualImage(),saveRgbPNGFile()沒什麼難度,頭寫對了就沒問題

#include <stdio.h>
#include <stdlib.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/transforms.h>
#include <pcl/range_image/range_image.h>
#include <pcl/io/png_io.h>
#include <pcl/visualization/common/float_image_utils.h>
#include<iostream>
#include<cstdlib>
#include<ctime>
using namespace std;

//main
int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

#pragma region create_range_image
	// We now want to create a range image from the above point cloud, with a 1deg angular resolution
	float angularResolution = (float)(1.0f * (M_PI / 180.0f));  //   1.0 degree in radians
	float maxAngleWidth = (float)(360.0f * (M_PI / 180.0f));  // 360.0 degree in radians
	float maxAngleHeight = (float)(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(*cloud, angularResolution, maxAngleWidth, maxAngleHeight,
		sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);

	std::cout << rangeImage << "\n";
	float* ranges = rangeImage.getRangesArray();

	unsigned char* rgb_image = pcl::visualization::FloatImageUtils::getVisualImage(ranges, rangeImage.width, rangeImage.height);

	pcl::io::saveRgbPNGFile("ha.png", rgb_image, rangeImage.width, rangeImage.height);
#pragma endregion
 

實際效果圖