PCL：关键点-NARF

**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，对NARF关键点的提取过程有以下要求：

提取的过程考虑边缘以及物体表面变化信息在内；
在不同视角关键点可以被重复探测；
关键点所在位置有足够的支持区域，可以计算描述子和进行唯一的估计法向量。
其对应的探测步骤如下：

遍历每个深度图像点，通过寻找在近邻区域有深度变化的位置进行边缘检测。
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，及变化的主方向。
根据step(2)找到的主方向计算兴趣点，表征该方向和其他方向的不同，以及该处表面的变化情况，即该点有多稳定。
对兴趣值进行平滑滤波。
进行无最大值压缩找到的最终关键点，即为NARF关键点。

类 NarfKeypoint 实现提取 NARF(Normal Aligned Radial Feature）关键点，输入为一副距离图像，输出为 NARF 关键点，该类检测到的 NARF 常与 NARF点特征描述子配合使用，以便后期配准、识别等应用。

/* \author Bastian Steder */
 
#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>
 
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);
 
//设置照相机的位姿
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]);
}
 
// -----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;
		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());
	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;
	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;
	//narf_keypoint_detector.getParameters ().distance_for_additional_points = 0.5;
 
	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_ti=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();
 
	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");
	
	// 主循环
	while (!viewer.wasStopped())
	{
		range_image_widget.spinOnce();// process GUI events
		viewer.spinOnce();
		pcl_sleep(0.01);
	}
}