├── test
    └── 1553156901232044.pcd.jpg
├── CMakeLists.txt
├── README.md
└── Pcd2Bev.cpp


/test/1553156901232044.pcd.jpg:
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https://raw.githubusercontent.com/wangx1996/Lidar-pcd-2-jpg-of-bird-eye-view-/HEAD/test/1553156901232044.pcd.jpg


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/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 2.8.12)
 2 | project(point)
 3 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
 4 | find_package(PCL 1.8 REQUIRED)
 5 | find_package(OpenCV REQUIRED)
 6 | add_definitions( ${PCL_DEFINITIONS} )
 7 | include_directories( ${PCL_INCLUDE_DIRS} )
 8 | 
 9 | add_executable(Pcd2Bev Pcd2Bev.cpp)
10 | target_link_libraries(Pcd2Bev ${PCL_LIBRARIES} ${OpenCV_LIBS})
11 | 
12 | 


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/README.md:
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 1 | # Lidar-pcd-2-jpg-of-bird-eye-view-
 2 | Take bird-eye-view Jpg file from pcd file.
 3 | 
 4 | 
 5 | 创建build文件夹
 6 | 
 7 |     mkdir build
 8 |     cd build
 9 |   
10 | 编译
11 |     
12 |     cmake
13 |     make
14 |     
15 | 运行
16 | 
17 |     ./Pcd2Bev  your file location
18 |     
19 |     
20 | 结果
21 | 
22 | ![image](https://github.com/WAN96/Lidar-pcd-2-jpg-of-bird-eye-view-/blob/master/test/1553156901232044.pcd.jpg)
23 | 


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/Pcd2Bev.cpp:
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  1 | #include <iostream>
  2 | #include <fstream>
  3 | #include <pcl/io/pcd_io.h>
  4 | #include <pcl/point_types.h>
  5 | #include <pcl/point_cloud.h>
  6 | #include <pcl/visualization/cloud_viewer.h>
  7 | #include <ctime>
  8 | #include <opencv2/highgui/highgui.hpp>
  9 | #include <opencv2/imgproc.hpp>
 10 | #include <string>
 11 | #include <algorithm>
 12 | 
 13 | 
 14 | using namespace std;
 15 | 
 16 | 
 17 | int w_range[2] = {-20,20};//左右范围
 18 | int fv_range[2] = {-20,20};//前后范围
 19 | float height_range[2] = {-1,3};//高度范围
 20 | float resolution = 0.05;//分辨率
 21 | 
 22 | static int64_t gtm() {
 23 | 	struct timeval tm;
 24 | 	gettimeofday(&tm, 0);
 25 | 	// return ms
 26 | 	int64_t re = (((int64_t)tm.tv_sec) * 1000 * 1000 + tm.tv_usec);
 27 | 	return re;
 28 | }
 29 | 
 30 | int main(int argc, char** argv)
 31 | {
 32 |     int64_t tm0 = gtm();
 33 |     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);//初始化点云 
 34 | 	
 35 |     pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud);//加载pcd点云并放入cloud中
 36 | 
 37 |     cout<<"点云数量："<<cloud->points.size()<<endl;
 38 |   
 39 |     size_t len = cloud->points.size();
 40 | 
 41 |     vector<int> x,y;
 42 |     vector<float> z;
 43 | 
 44 |     float dx = w_range[1]/resolution;
 45 |     float dy = fv_range[1]/resolution; 
 46 | 
 47 |     float ix,iy;
 48 | 
 49 |     for (size_t i = 0; i < len; i++)
 50 | 	{
 51 |             if(cloud->points[i].y>fv_range[0] && cloud->points[i].y<fv_range[1])
 52 |              {
 53 |                  if(cloud->points[i].x>w_range[0] && cloud->points[i].x<w_range[1])
 54 |                  {
 55 |                      if(cloud->points[i].z>height_range[0] && cloud->points[i].z<height_range[1])
 56 |                      {
 57 |                          //分辨率转换
 58 |                          float xr= cloud->points[i].x/resolution;
 59 |                          float yr= cloud->points[i].y/resolution;
 60 |                          
 61 |                          //坐标转换
 62 |                          ix = (dx + int(xr));
 63 |                          iy = (dy - int(yr));
 64 | 
 65 |                          x.push_back(round(ix));
 66 |                          y.push_back(round(iy));
 67 |                          z.push_back(cloud->points[i].z);
 68 |                       }
 69 |                   }
 70 |            }
 71 | 
 72 |         }		
 73 |     
 74 |     float xmax = *max_element(x.begin(),x.end());
 75 |     float xmin = *min_element(x.begin(),x.end());
 76 | 
 77 |     cout<<"x坐标最大值："<<xmax<<endl;
 78 |     cout<<"x坐标最小值："<<xmin<<endl;
 79 | 
 80 |     
 81 |     float ymax = *max_element(y.begin(),y.end());
 82 |     float ymin = *min_element(y.begin(),y.end());
 83 | 
 84 |     cout<<"y坐标最大值："<<ymax<<endl;
 85 |     cout<<"y坐标最小值："<<ymin<<endl;
 86 | 
 87 |     int imgheight = 1+ (fv_range[1]-fv_range[0])/resolution;
 88 |     int imgwidth = 1+ (w_range[1] - w_range[0])/resolution;
 89 | 
 90 |     float zmax = *max_element(z.begin(),z.end());
 91 |     float zmin = *min_element(z.begin(),z.end());
 92 | 
 93 |     cout<<"高度最大值："<<zmax<<endl;
 94 |     cout<<"高度最小值："<<zmin<<endl;
 95 | 
 96 |     cv::Mat bvimage = cv::Mat::zeros(imgheight, imgwidth, CV_8UC3);//生成一张黑色图
 97 | 
 98 | 
 99 |     vector<float> gray;//灰度值
100 | 
101 |     for (int j=0; j<z.size(); j++){
102 |         gray.push_back((z[j]-zmin)/(zmax-zmin)*256);
103 |        
104 |     }
105 | 
106 | 
107 |    for (int i=0; i<x.size(); i++){
108 |         bvimage.at<cv::Vec3b>(y[i], x[i]) = cv::Vec3b(gray[i],gray[i],gray[i]);
109 |     }
110 |     
111 |     int64_t tm1 = gtm();
112 |     cout<<"耗时(s)："<<tm1-tm0<<endl;
113 | 
114 |     string name = argv[1];
115 |     cv::imshow("BEV", bvimage);
116 |     cv::imwrite(name+".jpg",bvimage);    
117 | 
118 |     pcl::visualization::CloudViewer viewer("PCD");
119 |     viewer.showCloud(cloud);
120 | 
121 |     cv::waitKey(0);
122 | 
123 |     while (!viewer.wasStopped())
124 |     {
125 | 	}
126 |      
127 | 
128 |     return 0;
129 | }
130 | 


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