一、关键点提取
1.1 关键点提取的目的和意义
关键点也称为兴趣点,它是2D图像或是3D点云或者曲面模型上,可以通过定义检测标准来获取的具有稳定性,区别性的点集,从技术上来说,
关键点的数量相比于原始点云或图像的数据量减小很多,与局部特征描述子结合在一起,组成关键点描述子常用来形成原始数据的表示,
而且不失代表性和描述性,从而加快了后续的识别,追踪等对数据的处理了速度,故而,关键点技术成为在2D和3D 信息处理中非常关键的技术
关键点其实是一个模型的特征点,可以代表这个模型进行运算的点,这样可以降低模型的运算难度,使运行速度加快
1.2 关键点提取的方法介绍
(a) SITF原理介绍
下面这个博客从SIFT的提取-》具体实现过程进行了详细的介绍。推荐一下
SIFT详细介绍 https://blog.csdn.net/zddblog/article/details/7521424
SIFT实现代码
(b)ORB算法的提出
此算法的计算速度优于SIFT,这篇知乎写的很好。
ORB算法的介绍
(b)Narf原理介绍
NARF(Normal Aligned Radial Feature)关键点是为了从深度图像中识别物体而提出的,关键点探测的重要一步是减少特征提取时的搜索空间,把重点放在重要的结构上,对NARF关键点提取过程有以下要求:
(1)提取的过程必须考虑边缘以及物体表面变化信息在内;
(2)关键点的位置必须稳定的可以被重复探测,即使换了不同的视角;
(3)关键点所在的位置必须有稳定的支持区域,可以计算描述子和进行唯一的估计法向量。
为了满足上述要求,提出以下探测步骤来进行关键点提取:
(1) 遍历每个深度图像点,通过寻找在近邻区域有深度突变的位置进行边缘
检测。
(2) 遍历每个深度图像点,根据近邻区域的表面变化决定一测度表面变化的系数,以及变化的主方向。
(3)根据第二步找到的主方向计算兴趣值,表征该方向与其他方向的不同,以及该处表面的变化情况,即该点有多稳定。
(4) 对兴趣值进行平滑过滤。
(5) 进行无最大值压缩找到最终的关键点,即为NARF关键点。
(c)ISS原理介绍
(d)Harris原理介绍
1.3 关键点实例
#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>
#include<pcl/keypoints/sift_keypoint.h>
typedef pcl::PointXYZ PointType;
//参数
float angular_resolution = 0.5f;
float support_size = 0.2f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;
//打印帮助
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], up_vector[0], up_vector[1], up_vector[2]);
viewer.updateCamera();
}
// -----Main-----
int
main(int argc, char**argv)
{
//解析命令行参数
if (pcl::console::find_argument(argc, argv, "-h") >= 0)
{
printUsage(argv[0]);
return 0;
}
if (pcl::console::find_argument(argc, argv, "-m") >= 0)
{
setUnseenToMaxRange = true; // 把不可见区域变成最大范围读数,默认是false,只显示一部分
cout << "Setting unseen values in range image to maximum range readings.\n";
}
int tmp_coordinate_frame;
if (pcl::console::parse(argc, argv, "-c", tmp_coordinate_frame) >= 0)
{
coordinate_frame = pcl::RangeImage::CoordinateFrame(tmp_coordinate_frame);
cout << "Using coordinate frame " << (int)coordinate_frame << ".\n";
}
if (pcl::console::parse(argc, argv, "-s", support_size) >= 0)
cout << "Setting support size to " << support_size << ".\n";
if (pcl::console::parse(argc, argv, "-r", angular_resolution) >= 0)
cout << "Setting angular resolution to " << angular_resolution << "deg.\n";
angular_resolution = pcl::deg2rad(angular_resolution);
//读取给定的pcd文件或者自行创建随机点云
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());
// ?读取pcd文件索引
std::vector<int>pcd_filename_indices = pcl::console::parse_file_extension_argument(argc, argv, "pcd");
if (!pcd_filename_indices.empty())
{
std::string filename = argv[pcd_filename_indices[0]];
if (pcl::io::loadPCDFile(filename, point_cloud) == -1)
{
cerr << "Was not able to open file \"" << filename << "\".\n";
printUsage(argv[0]);
return 0;
}
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_);
std::string far_ranges_filename = pcl::getFilenameWithoutExtension(filename) + "_far_ranges.pcd";
if (pcl::io::loadPCDFile(far_ranges_filename.c_str(), far_ranges) == -1)
std::cout << "Far ranges file \"" << far_ranges_filename << "\" does not exists.\n";
}
else
{
setUnseenToMaxRange = true;
cout << "\nNo *.pcd file given =>Genarating example point cloud.\n\n";
for (float x = -0.5f; x <= 0.5f; x += 0.01f)
{
for (float y = -0.5f; y <= 0.5f; y += 0.01f)
{
PointType point;
point.x = x;
point.y = y;
point.z = 2.0f - y;
point_cloud.points.push_back(point);
}
}
point_cloud.width = (int)point_cloud.points.size(); point_cloud.height = 1;
}
//从点云创建距离图像
float noise_level = 0.0;
float min_range = 0.0f;
int border_size = 1;
// 定义智能指针(全局)
boost::shared_ptr<pcl::RangeImage>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();
// 创建3D点云可视化窗口,并显示点云
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);
//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());
// 显示距离图像
pcl::visualization::RangeImageVisualizer range_image_widget("Range image");
range_image_widget.showRangeImage(range_image);
//提取NARF关键点
pcl::RangeImageBorderExtractor range_image_border_extractor;
pcl::NarfKeypoint narf_keypoint_detector(&range_image_border_extractor);
narf_keypoint_detector.setRangeImage(&range_image);
narf_keypoint_detector.getParameters().support_size = support_size;
narf_keypoint_detector.getParameters ().add_points_on_straight_edges = true; //对竖直边是否感兴趣”设置为感兴趣(true),此时关键点多
narf_keypoint_detector.getParameters ().distance_for_additional_points = 10; //与support_size一起作用
pcl::PointCloud<int>keypoint_indices;
narf_keypoint_detector.compute(keypoint_indices);
std::cout << "Found " << keypoint_indices.points.size() << " key points.\n";
//在距离图像显示组件内显示关键点
//for (size_t i=0; i<keypoint_indices.points.size (); ++i)
// range_image_widget.markPoint (keypoint_indices.points[i]%range_image.width,
//keypoint_indices.points[i]/range_image.width);
//在3D窗口中显示关键点
pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>&keypoints = *keypoints_ptr;
keypoints.points.resize(keypoint_indices.points.size());
for (size_t i = 0; i < keypoint_indices.points.size(); ++i)
keypoints.points[i].getVector3fMap() = range_image.points[keypoint_indices.points[i]].getVector3fMap();
//自定义颜色
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>keypoints_color_handler(keypoints_ptr, 0, 255, 0);
// 视图中添加关键点和颜色
viewer.addPointCloud<pcl::PointXYZ>(keypoints_ptr, keypoints_color_handler, "keypoints");
// 设置尺寸属性
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "keypoints");
// 主循环
while (!viewer.wasStopped())
{
range_image_widget.spinOnce();// process GUI events
viewer.spinOnce();
pcl_sleep(0.01);
}
}
运行结果
./narf_keypoint_extraction.exe rabbit.pcd -m 代表最大的特征点数目展示
./narf_keypoint_extraction.exe rabbit.pcd -s 设置半径球,来进行约束特征点数目
./narf_keypoint_extraction.exe rabbit.pcd -m的运行结果如下,我们可以发现特征点很多。
./narf_keypoint_extraction.exe rabbit.pcd -s运行结果如下,可以发现特征点数目已经大大降低了
二、总结
这周主要了解了特征点提取的一系列方法的原理,明白了其在点云数据处理中的重要性。很感谢那些大神的博客(上文中所引用的那些博客或者知乎),使我受益良多。
三、参考:
PCL中Narf的介绍和应用
PCL点云中的一些基础知识
关键点提取系列之ISS、harris3D、Narf、sift3D、uniform sampling和voxel sampling