如何从范围图像中提取NARF关键点（How to extract NARF keypoint from a range image）

本教程演示了如何从范围图像中提取NARF关键点。可执行文件使我们能够从光盘中加载一个点云（如果没有给出，也可以创建它），提取兴趣点并在图像和3D查看器中显示结果。

#代码
首先，在你最喜欢的编辑器中创建一个名为narf_keypoint_extraction.cpp的文件，并在其中放置下面的代码：

/* \author Bastian Steder */

#include <iostream>

#include <boost/thread/thread.hpp>
#include <pcl/range_image/range_image.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/features/range_image_border_extractor.h>
#include <pcl/keypoints/narf_keypoint.h>
#include <pcl/console/parse.h>

typedef pcl::PointXYZ PointType;

// --------------------
// -----Parameters-----
// --------------------
float angular_resolution = 0.5f;
float support_size = 0.2f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;

// --------------
// -----Help-----
// --------------
void 
printUsage (const char* progName)
{
  std::cout << "\n\nUsage: "<<progName<<" [options] <scene.pcd>\n\n"
            << "Options:\n"
            << "-------------------------------------------\n"
            << "-r <float>  angular resolution in degrees (default "<<angular_resolution<<")\n"
            << "-c <int>    coordinate frame (default "<< (int)coordinate_frame<<")\n"
            << "-m          Treat all unseen points as maximum range readings\n"
            << "-s <float>  support size for the interest points (diameter of the used sphere - "
            <<                                                    "default "<<support_size<<")\n"
            << "-h          this help\n"
            << "\n\n";
}

//void 
//setViewerPose (pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
//{
  //Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f (0, 0, 0);
  //Eigen::Vector3f look_at_vector = viewer_pose.rotation () * Eigen::Vector3f (0, 0, 1) + pos_vector;
  //Eigen::Vector3f up_vector = viewer_pose.rotation () * Eigen::Vector3f (0, -1, 0);
  //viewer.setCameraPosition (pos_vector[0], pos_vector[1], pos_vector[2],
                            //look_at_vector[0], look_at_vector[1], look_at_vector[2],