Spin Image特征描述子

这里主要研究PCL库中的Spin Image描述子，具体文献如下：

1. Johnson, A.E., Spin-Images: A Representation for 3-D Surface Matching. Carnegie Mellon University, 1997.
2. Johnson, A.E. and M. Hebert, Surface matching for object recognition in complex three-dimensional scenes. Image and Vision Computing, 1998. 16(9): p. 635-651.
3. Johnson, A.E. and M. Hebert, Using spin images for efficient object recognition in cluttered 3D scenes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1999. 21(5): p. 433-449.

Spin Image的主要参数有：

1. image_width_：图片宽度，是指图片有多少格 （行和列的格子数目是一样的，都是通过这个参数设置）；
2. search_radius_点的搜索半径，即圆柱坐标系的R，也是查找点的时候设置的查找半径，即FLANN中的R；
3. bin_size：即图片格子的大小，对应图片的分辨率 该参数由image_width_和search_radius_共同决定，pcl库中的代码如下：

  // OK, we are interested in the points of the cylinder of height 2*r and
  // base radius r, where r = m_dBinSize * in_iImageWidth
  // it can be embedded to the sphere of radius sqrt(2) * m_dBinSize * in_iImageWidth
  // suppose that points are uniformly distributed, so we lose ~40%
  // according to the volumes ratio
  double bin_size = 0.0;
  if (is_radial_)
    bin_size = search_radius_ / image_width_;  
  else
    bin_size = search_radius_ / image_width_ / sqrt(2.0);

4. min_pts_neighb_：该参数限定了圆柱坐标系内出现的最少点数，即R半径范围内的点数要大于该值，否则会出现中断；
5. support_angle_cos_：该参数限定R半径内搜索到的点的法线与关键点的法线的夹角，该值是余弦值，范围在0-1之间，该参数可以减少与关键点法线方向相反的点，增加鲁棒性，对应文献的说法是：“However, a small support angle is necessary for robustness to clutter and occlusion.”

2-D points 转为spin image的转变是通过线性插值实现，原理如下图：

最后将spin image矩阵转为直方图的形式。

PCL提取spin image的代码如下：

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

#include "stdafx.h"
#include <iostream>
#include <vector>
#include <pcl/io/ply_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/spin_image.h>
//#include "spin_image.h"
//#include "spin_image.hpp"

int main(int, char** argv)
{
	std::string filename = "E:/3DData/santong/scene/01.ply";
	std::cout << "Reading " << filename << std::endl;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

	if (pcl::io::loadPLYFile <pcl::PointXYZ>(filename.c_str(), *cloud) == -1)
		// load the file
	{
		PCL_ERROR("Couldn't read file");
		return (-1);
	}
	std::cout << "Loaded " << cloud->points.size() << " points." << std::endl;

	// Compute the normals
	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimation;
	normal_estimation.setInputCloud(cloud);

	pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree(new pcl::search::KdTree<pcl::PointXYZ>);
	normal_estimation.setSearchMethod(kdtree);

	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud< pcl::Normal>);
	//normal_estimation.setRadiusSearch(30);
	normal_estimation.setKSearch(8);
	normal_estimation.compute(*normals);

	// Setup spin image computation
	pcl::SpinImageEstimation<pcl::PointXYZ, pcl::Normal, pcl::Histogram<153> > spin_image_descriptor(8, 0.5, 10);
	spin_image_descriptor.setInputCloud(cloud);
	spin_image_descriptor.setInputNormals(normals);

	// Use the same KdTree from the normal estimation
	spin_image_descriptor.setSearchMethod(kdtree);
	pcl::PointCloud<pcl::Histogram<153> >::Ptr spin_images(new pcl::PointCloud<pcl::Histogram<153> >);
	spin_image_descriptor.setRadiusSearch(8);

	// Actually compute the spin images
	spin_image_descriptor.compute(*spin_images);
	std::cout << "SI output points.size (): " << spin_images->points.size() << std::endl;

	// Display and retrieve the spin image descriptor vector for the first point.
	pcl::Histogram<153> first_descriptor = spin_images->points[0];
	std::cout << first_descriptor << std::endl;

	return 0;
}