PCL关键点提取算法之SIFT：利用Z值的梯度代替强度求SIFT关键点的代码

这是PCL库中利用Z轴的梯度来求SIFT关键的代码，记下来以备以后忘记，
代码来着：https://github.com/PointCloudLibrary/pcl

// Keypoint_demo.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include <iostream>

// PCL
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/keypoints/sift_keypoint.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/pcl_visualizer.h>

/* This examples shows how to estimate the SIFT points based on the
* z gradient of the 3D points than using the Intensity gradient as
* usually used for SIFT keypoint estimation.
*/

namespace pcl
{
	template<>
	struct SIFTKeypointFieldSelector<PointXYZ>
	{
		inline float
			operator () (const PointXYZ &p) const
		{
			return p.z;
		}
	};
}

int
main(int, char** argv)
{
	std::string filename = "E:/3DData/santong/2/testSegmentation_removePlane.ply";
	std::cout << "Reading " << filename << std::endl;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPLYFile<pcl::PointXYZ>(filename, *cloud_xyz) == -1) // load the file
	{
		PCL_ERROR("Couldn't read file");
		return -1;
	}
	std::cout << "points: " << cloud_xyz->points.size() << std::endl;

	// Parameters for sift computation
	const float min_scale = 1.0f;
	const int n_octaves = 8;
	const int n_scales_per_octave = 5;
	const float min_contrast = 1.0f;

	// Estimate the sift interest points using z values from xyz as the Intensity variants
	pcl::SIFTKeypoint<pcl::PointXYZ, pcl::PointWithScale> sift;
	pcl::PointCloud<pcl::PointWithScale> result;
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
	sift.setSearchMethod(tree);
	sift.setScales(min_scale, n_octaves, n_scales_per_octave);
	sift.setMinimumContrast(min_contrast);
	sift.setInputCloud(cloud_xyz);
	sift.compute(result);

	std::cout << "No of SIFT points in the result are " << result.points.size() << std::endl;

	
	// Copying the pointwithscale to pointxyz so as visualize the cloud
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_temp (new pcl::PointCloud<pcl::PointXYZ>);
	copyPointCloud(result, *cloud_temp);
	std::cout << "SIFT points in the result are " << cloud_temp->points.size () << std::endl;
	// Visualization of keypoints along with the original cloud
	pcl::visualization::PCLVisualizer viewer("PCL Viewer");
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> keypoints_color_handler (cloud_temp, 0, 255, 0);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_color_handler (cloud_xyz, 255, 0, 0);
	viewer.setBackgroundColor( 0.0, 0.0, 0.0 );
	viewer.addPointCloud(cloud_xyz, cloud_color_handler, "cloud");
	viewer.addPointCloud(cloud_temp, keypoints_color_handler, "keypoints");
	viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "keypoints");

	while(!viewer.wasStopped ())
	{
	viewer.spinOnce ();
	}
	

	return 0;

}

具体参数只有4个，还没有深入了解参数的含义，现在大概测试一下，测试结果如下：