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],