PCL点云转深度图、求深度图边界并显示

目录

PCL点云转深度图、求深度图边界并显示代码

运行结果

理论说明和结果分析

PCL中点云转换

核心代码

核心函数 

PCL中边缘检测

核心代码

核心函数

---

PCL点云转深度图、求深度图边界并显示代码

详细说明看注释

#include <iostream>

#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/console/parse.h>
#include <pcl/common/file_io.h> // for getFilenameWithoutExtension

typedef pcl::PointXYZ PointType;

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

int
main(int argc, char** argv)
{
    angular_resolution = pcl::deg2rad(angular_resolution);

    // ------------------------------------------------------------------
    // -----Read pcd file or create example point cloud if not given-----
    // ------------------------------------------------------------------
    pcl::PointCloud<PointType>::Ptr point_cloud_ptr(new pcl::PointCloud<PointType>);
    pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
    pcl::PointCloud<pcl::PointWithViewpoint> far_ranges;
    Eigen::Affine3f scene_sensor_pose(Eigen::Affine3f::Identity());

    // Fill in the cloud data
    pcl::PCDReader reader;
    reader.read("rabbit.pcd", point_cloud);

    // -----------------------------------------------
    // -----Create RangeImage from the PointCloud-----
    // -----------------------------------------------
    float noise_level = 0.0;
    float min_range = 0.0f;
    int border_size = 1;
    pcl::RangeImage::Ptr range_image_ptr(new pcl::RangeImage);
    pcl::RangeImage& range_image = *range_image_ptr;
    range_image.createFromPointCloud(point_cloud, angular_resolution, pcl::deg2rad(360.0f), pcl::deg2rad(180.0f),
        scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
    range_image.integrateFarRanges(far_ranges);
    if (setUnseenToMaxRange)
        range_image.setUnseenToMaxRange();

    // --------------------------------------------
    // -----Open 3D viewer and add point cloud-----
    // --------------------------------------------
    pcl::visualization::PCLVisualizer viewer("3D Viewer");
    viewer.setBackgroundColor(1, 1, 1);
    viewer.addCoordinateSystem(1.0f, "global");
    pcl::visualization::PointCloudColorHandlerCustom<PointType> point_cloud_color_handler(point_cloud_ptr, 0, 0, 0);
    viewer.addPointCloud(point_cloud_ptr, point_cloud_color_handler, "original point cloud");

    // -------------------------
    // -----Extract borders-----
    // -------------------------
    pcl::RangeImageBorderExtractor border_extractor(&range_image);
    pcl::PointCloud<pcl::BorderDescription> border_descriptions;
    border_extractor.compute(border_descriptions);

    // ----------------------------------
    // -----Show points in 3D viewer-----
    // ----------------------------------
    pcl::PointCloud<pcl::PointWithRange>::Ptr border_points_ptr(new pcl::PointCloud<pcl::PointWithRange>),
        veil_points_ptr(new pcl::PointCloud<pcl::PointWithRange>),
        shadow_points_ptr(new pcl::PointCloud<pcl::PointWithRange>);
    pcl::PointCloud<pcl::PointWithRange>& border_points = *border_points_ptr,
        & veil_points = *veil_points_ptr,
        & shadow_points = *shadow_points_ptr;
    for (int y = 0; y < (int)range_image.height; ++y)
    {
        for (int x = 0; x < (int)range_image.width; ++x)
        {
            if (border_descriptions[y * range_image.width + x].traits[pcl::BORDER_TRAIT__OBSTACLE_BORDER])
                border_points.points.push_back(range_image[y * range_image.width + x]);
            if (border_descriptions[y * range_image.width + x].traits[pcl::BORDER_TRAIT__VEIL_POINT])
                veil_points.points.push_back(range_image[y * range_image.width + x]);
            if (border_descriptions[y * range_image.width + x].traits[pcl::BORDER_TRAIT__SHADOW_BORDER])
                shadow_points.points.push_back(range_image[y * range_image.width + x]);
        }
    }
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> border_points_color_handler(border_points_ptr, 0, 255, 0);//绿色，物体的边界
    viewer.addPointCloud<pcl::PointWithRange>(border_points_ptr, border_points_color_handler, "border points");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "border points");

    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> veil_points_color_handler(veil_points_ptr, 255, 0, 0);//红色，物体与背景之间的过度点，雷达比较多
    viewer.addPointCloud<pcl::PointWithRange>(veil_points_ptr, veil_points_color_handler, "veil points");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "veil points");

    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> shadow_points_color_handler(shadow_points_ptr, 0, 0, 255);//蓝色，是阴影的边界
    viewer.addPointCloud<pcl::PointWithRange>(shadow_points_ptr, shadow_points_color_handler, "shadow points");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "shadow points");

    //-------------------------------------
    // -----Show points on range image-----
    // ------------------------------------
    pcl::visualization::RangeImageVisualizer* range_image_borders_widget = NULL;
    range_image_borders_widget =
        pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget(range_image, -std::numeric_limits<float>::infinity(), std::numeric_limits<float>::infinity(), false,
            border_descriptions, "Range image with borders");
    // -------------------------------------


    //--------------------
    // -----Main loop-----
    //--------------------
    while (!viewer.wasStopped())
    {
        range_image_borders_widget->spinOnce();
        viewer.spinOnce();
    }
}

运行结果

深度图和边缘

点云显示的边缘

理论说明和结果分析

PCL中点云转换

核心代码

   float angular_resolution = 0.5f;
    pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;

    float noise_level = 0.0;
    float min_range = 0.0f;
    int border_size = 1;
    pcl::RangeImage::Ptr range_image_ptr(new pcl::RangeImage);
    pcl::RangeImage& range_image = *range_image_ptr;
    range_image.createFromPointCloud(point_cloud, angular_resolution, pcl::deg2rad(360.0f), pcl::deg2rad(180.0f),
        scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
    range_image.integrateFarRanges(far_ranges);
    if (setUnseenToMaxRange)
        range_image.setUnseenToMaxRange();

核心函数 

createFromPointCloud，按照函数参数的顺序依次设置：

point_cloud：输入点云

angular_resolution：角度分辨率，例如 角度分辨率应为0.5度，这意味着相邻像素表示的光束相差0.5度；

pcl::deg2rad(360.0f)：maxAngleWidth 视角宽360度，其实180度即可满足一般要求还能降低计算复杂度；

pcl::deg2rad(180.0f)：, maxAngleHeight 视角高360度，其实180度即可满足一般要求还能降低计算复杂度；

scene_sensor_pose：sensorPose将虚拟传感器的6自由度位置定义为原点，横摇=俯仰=偏航=0

coordinate_frame：CAMERA_FRAME x向右，y向下，z轴向前。LASER_FRAME，x朝前，y朝左，z朝上。

noise_level：对于noiseLevel=0，是用所有单个Z创建。0.05意味着，与最近点之间最大距离为5cm的所有点用于计算范围。（这个描述可能不是很准确，希望大家能集思广益）

min_range：大于零的话，会忽略一些距离比较近的点；

border_size：图像边缘的宽度，点云往外扩充的一段边缘；

PCL中边缘检测

核心代码

    pcl::RangeImageBorderExtractor border_extractor(&range_image);
    pcl::PointCloud<pcl::BorderDescription> border_descriptions;
    border_extractor.compute(border_descriptions);

核心函数

RangeImageBorderExtractor.comput(border_descriptions)

输出存在border_descriptions中，包括3类边缘，分别是：

1、物体的边缘；

2、阴影区域的边缘；

3、物体边缘和阴影边缘之间的点集；

可以显示在点云图像中，和深度图像中，可以看程序运行结果；

参考：

https://pcl.readthedocs.io/projects/tutorials/en/latest/range_image_creation.html#range-image-creation

https://pcl.readthedocs.io/projects/tutorials/en/latest/range_image_border_extraction.html#range-image-border-extraction