提取NARF关键点

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

typedef pcl::PointXYZ PointType;

// -----Parameters-----
float angular_resolution = 0.5f;
float support_size = 0.2f;
bool setUnseenToMaxRange = true;

int main()
{
    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;
    pcl::io::loadPCDFile("sampled.pcd", point_cloud);
    // -----------------------------------------------
    // -----Create RangeImage from the PointCloud-----
    // -----------------------------------------------
    angular_resolution = pcl::deg2rad(angular_resolution);
    Eigen::Affine3f scene_sensor_pose(Eigen::Affine3f::Identity());
    //sensorPose将虚拟传感器的6DOF位置定义为滚动=俯仰=偏航=0的原点。
    //Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
    scene_sensor_pose = Eigen::Affine3f(Eigen::Translation3f(point_cloud.sensor_origin_[0],
        point_cloud.sensor_origin_[1], point_cloud.sensor_origin_[2])) * Eigen::Affine3f(point_cloud.sensor_orientation_);
    pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;      //坐标系方向，x向右的，y向下，z向前
    float noise_level = 0.0;    //如果想平均同一单元格内的分数，你可以使用更高的值。0.05表示使用所有到最近点的最大距离为5cm的点来计算范围。
    float min_range = 0.0f;     //如果minRange大于0，所有靠近的点都将被忽略。
    int border_size = 1;        //如果borderSize大于0，在裁剪图像时，图像周围会留下一个未被观察点的边界。
    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);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler(range_image_ptr, 0, 0, 0);
    viewer.addPointCloud(range_image_ptr, range_image_color_handler, "range image");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
    //viewer.addCoordinateSystem (1.0f, "global");
    //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
    //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
    viewer.initCameraParameters();
    //setViewerPose (viewer, range_image.getTransformationToWorldSystem ());

    // --------------------------
    // -----Show range image-----
    // --------------------------
    pcl::visualization::RangeImageVisualizer range_image_widget("Range image");
    range_image_widget.showRangeImage(range_image);

    // --------------------------------
    // -----Extract NARF keypoints-----
    // --------------------------------
    pcl::RangeImageBorderExtractor range_image_border_extractor;        //边缘提取
    pcl::NarfKeypoint narf_keypoint_detector(&range_image_border_extractor);    //创建NarfKeypoint对象
    narf_keypoint_detector.setRangeImage(&range_image);
    narf_keypoint_detector.getParameters().support_size = support_size;         //设置搜索空间球体的半径，它指定计算感兴趣值的测度时所使用的邻接范围
    //narf_keypoint_detector.getParameters ().add_points_on_straight_edges = true;
    narf_keypoint_detector.getParameters ().distance_for_additional_points = 0.5;

    pcl::PointCloud<int> keypoint_indices;          //创建点云对象，存储探测得到的关键点
    narf_keypoint_detector.compute(keypoint_indices);       //计算得到的关键点保存在keypoint_indices
    std::cout << "Found " << keypoint_indices.size() << " key points.\n";

    // ----------------------------------------------
    // -----Show keypoints in range image widget-----
    // ----------------------------------------------
    //for (std::size_t i=0; i<keypoint_indices.size (); ++i)
      //range_image_widget.markPoint (keypoint_indices[i]%range_image.width,
                                    //keypoint_indices[i]/range_image.width);

    // -------------------------------------
    // -----Show keypoints in 3D viewer-----
    // -------------------------------------
    pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_ptr(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>& keypoints = *keypoints_ptr;
    keypoints.resize(keypoint_indices.size());
    for (std::size_t i = 0; i < keypoint_indices.size(); ++i)
        keypoints[i].getVector3fMap() = range_image[keypoint_indices[i]].getVector3fMap();

    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> keypoints_color_handler(keypoints_ptr
        , 0, 255, 0);
    viewer.addPointCloud<pcl::PointXYZ>(keypoints_ptr, keypoints_color_handler, "keypoints");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "keypoints");

    //--------------------
    // -----Main loop-----
    //--------------------
    while (!viewer.wasStopped())
    {
        range_image_widget.spinOnce();  // process GUI events
        viewer.spinOnce();
        pcl_sleep(0.01);
    }
}