#include <pcl/range_image/range_image.h>    //深度图像的头文件

int main (int argc, char** argv) {
  pcl::PointCloud<pcl::PointXYZ> pointCloud;   //定义点云的对象
  
  // 循环产生点云的数据
  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); //循环添加点数据到点云对象
    }
  }
  pointCloud.width = (uint32_t) pointCloud.points.size();
  pointCloud.height = 1;                                        //设置点云对象的头信息
    //实现一个呈矩形形状的点云
  // We now want to create a range image from the above point cloud, with a 1deg angular resolution
   //angular_resolution为模拟的深度传感器的角度分辨率，即深度图像中一个像素对应的角度大小
  float angularResolution = (float) (  1.0f * (M_PI/180.0f));  //   1.0 degree in radians
   //max_angle_width为模拟的深度传感器的水平最大采样角度，
  float maxAngleWidth     = (float) (360.0f * (M_PI/180.0f));  // 360.0 degree in radians
  //max_angle_height为模拟传感器的垂直方向最大采样角度  都转为弧度
  float maxAngleHeight    = (float) (180.0f * (M_PI/180.0f));  // 180.0 degree in radians
   //传感器的采集位置
  Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
   //深度图像遵循坐标系统
  pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
  float noiseLevel=0.00;    //noise_level获取深度图像深度时，近邻点对查询点距离值的影响水平
  float minRange = 0.0f;     //min_range设置最小的获取距离，小于最小获取距离的位置为传感器的盲区
  int borderSize = 1;        //border_size获得深度图像的边缘的宽度
  
  pcl::RangeImage rangeImage;
  rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight,
                                  sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);
  
  std::cout << rangeImage << "\n";
}