Library PCL-- point cloud point cloud into a depth map

1. Set the depth image width / height / optical center coordinates / focal length, from a viewpoint of obtaining the point cloud into a depth map.

void

createFromPointCloudWithFixedSize (const PointCloudType &point_cloud, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, const Eigen::Affine3f &sensor_pose, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f)

Created from the point cloud image already exists in which, point_cloud required to create the object is a point cloud of the depth image reference point, di_width width parallax images, di_height highly parallax images, di_center_ x is the x coordinate of the camera projection center, di _ center_y is the y coordinate of the camera projection center, di_focal_length_x is the focal length of the camera in the horizontal direction, di_ fo cal_ length_ y is the focal length of the camera in the vertical direction, sensor_pose analog pose a depth camera, coordinate_frame a coordinate point cloud is used system, noise_level noise level sensor, while obtaining a z-buffer depth, if more noise, the depth of the point around the query point will affect the depth of the query point, if there is no noise, the direct access query point z buffer the minimum distance of the depth, the minimum depth min_range visible point, is less than the distance of the point as a dead zone, i.e., not viewable.