【译】PCL官网教程翻译(19)：从深度图像中提取NARF特征 - How to extract NARF Features from a range image

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从深度图像中提取NARF特征

本教程演示如何从深度图像中提取位于NARF关键点位置的NARF描述符。可执行文件使我们能够从磁盘加载点云(如果没有提供，也可以创建点云)，从中提取感兴趣的点，然后在这些位置计算描述符。然后，它在图像和3D查看器中可视化这些位置。

代码

首先，在您喜欢的编辑器中创建一个名为narf_feature_extract .cpp的文件，并在其中放置以下代码:

/* \作者Bastian Steder */

#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/features/narf_descriptor.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;
bool rotation_invariant = true;

// --------------
// -----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 to max range\n"
            << "-s <float>   support size for the interest points (diameter of the used sphere - "
                                                                  "default "<<support_size<<")\n"
            << "-o <0/1>     switch rotational invariant version of the feature on/off"
            <<               " (default "<< (int)rotation_invariant<<")\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]);
}

// --------------
// -----主程序-----
// --------------
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;
    std::cout << "Setting unseen values in range image to maximum range readings.\n";
  }
  if (pcl::console::parse (argc, argv, "-o", rotation_invariant) >= 0)
    std::cout << "Switching rotation invariant feature version "<< (rotation_invariant ? "on" : "off")<<".\n";
  int tmp_coordinate_frame;
  if (pcl::console::parse (argc, argv, "-c", tmp_coordinate_frame) >= 0)
  {
    coordinate_frame = pcl::RangeImage::CoordinateFrame (tmp_coordinate_frame);
    std::cout << "Using coordinate frame "<< (int)coordinate_frame<<".\n";
  }
  if (pcl::console::parse (argc, argv, "-s", support_size) >= 0)
    std::cout << "Setting support size to "<<support_size<<".\n";
  if (pcl::console::parse (argc, argv, "-r", angular_resolution) >= 0)
    std::cout << "Setting angular resolution to "<<angular_resolution<<"deg.\n";
  angular_resolution = pcl::deg2rad (angular_resolution);
  
  // ------------------------------------------------------------------
  // -----读取pcd文件或创建示例点云(如果没有给出)-----
  // ------------------------------------------------------------------
  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)
    {
      std::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;
    std::cout << "\nNo *.pcd file given => Generating 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;
  }
  
  // -----------------------------------------------
  // -----从点云创建深度图像-----
  // -----------------------------------------------
  float noise_level = 0.0;
  float min_range = 0.0f;
  int border_size = 1;
  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 ();
  
  // --------------------------------------------
  // -----打开3D查看器并添加点云-----
  // --------------------------------------------
  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, "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 ());
  
  // --------------------------
  // -----显示深度图像-----
  // --------------------------
  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;
  narf_keypoint_detector.setRangeImageBorderExtractor (&range_image_border_extractor);
  narf_keypoint_detector.setRangeImage (&range_image);
  narf_keypoint_detector.getParameters ().support_size = support_size;
  
  pcl::PointCloud<int> keypoint_indices;
  narf_keypoint_detector.compute (keypoint_indices);
  std::cout << "Found "<<keypoint_indices.points.size ()<<" key points.\n";

  // ----------------------------------------------
  // -----显示深度图像小部件中的关键点-----
  // ----------------------------------------------
  //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查看器中显示关键点-----
  // -------------------------------------
  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");
  
  // ------------------------------------------------------
  // -----提取感兴趣点的NARF描述符-----
  // ------------------------------------------------------
  std::vector<int> keypoint_indices2;
  keypoint_indices2.resize (keypoint_indices.points.size ());
  for (unsigned int i=0; i<keypoint_indices.size (); ++i) // This step is necessary to get the right vector type
    keypoint_indices2[i]=keypoint_indices.points[i];
  pcl::NarfDescriptor narf_descriptor (&range_image, &keypoint_indices2);
  narf_descriptor.getParameters ().support_size = support_size;
  narf_descriptor.getParameters ().rotation_invariant = rotation_invariant;
  pcl::PointCloud<pcl::Narf36> narf_descriptors;
  narf_descriptor.compute (narf_descriptors);
  std::cout << "Extracted "<<narf_descriptors.size ()<<" descriptors for "
                      <<keypoint_indices.points.size ()<< " keypoints.\n";
  
  //--------------------
  // -----主循环-----
  //--------------------
  while (!viewer.wasStopped ())
  {
    range_image_widget.spinOnce ();  // process GUI events
    viewer.spinOnce ();
    pcl_sleep(0.01);
  }
}

解释

在开始时，我们执行命令行解析，从磁盘读取点云(如果没有提供，也可以创建点云)，创建一个深度图像并从中提取NARF关键点。所有这些步骤都已经在前面的教程NARF关键点提取中介绍过。
有趣的部分从这里开始:

...
std::vector<int> keypoint_indices2;
keypoint_indices2.resize(keypoint_indices.points.size());
for (unsigned int i=0; i<keypoint_indices.size(); ++i) // This step is necessary to get the right vector type
  keypoint_indices2[i]=keypoint_indices.points[i];
...

这里我们将索引复制到作为特征输入的向量上。

...
pcl::NarfDescriptor narf_descriptor(&range_image, &keypoint_indices2);
narf_descriptor.getParameters().support_size = support_size;
narf_descriptor.getParameters().rotation_invariant = rotation_invariant;
pcl::PointCloud<pcl::Narf36> narf_descriptors;
narf_descriptor.compute(narf_descriptors);
std::cout << "Extracted "<<narf_descriptors.size()<<" descriptors for "<<keypoint_indices.points.size()<< " keypoints.\n";
...

这段代码实际计算描述符。它首先创建NarfDescriptor对象并给它输入数据(关键点索引和范围图像)。然后设置两个重要参数。支持大小，它决定计算描述符所在区域的大小，以及是否应该使用NARF描述符的旋转不变量(围绕正常旋转)版本。我们创建输出点云并执行实际计算。最后输出关键字个数和提取的描述符个数。这些数字可能不同。首先，描述符的计算可能会失败，因为深度图像中没有足够的点(分辨率太低)。或者可能在同一个地方有多个描述符，但是针对不同的主旋转。
得到的PointCloud包含类型Narf36(请参阅common/include/pcl/point_types.h)，并将描述符存储为36个元素float和x、y、z、roll、pitch、yaw，以描述提取特征的本地坐标系。现在可以将描述符与曼哈顿距离(绝对差异的总和)进行比较。
剩下的代码只是在深度图像小部件和3D查看器中可视化关键点位置。

编译和运行程序

在CMakeLists.txt文件中添加以下行:

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)

project(narf_feature_extraction)

find_package(PCL 1.3 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (narf_feature_extraction narf_feature_extraction.cpp)
target_link_libraries (narf_feature_extraction ${PCL_LIBRARIES})

完成可执行文件后，就可以运行它了。只需要:

$ ./narf_feature_extraction -m

这里使用一个存在空间中的矩形的自动生成点云。关键点在角落里。参数-m是必要的，因为矩形周围的区域是不可见的，因此系统无法将其检测为边框。选项-m将不可见区域更改为最大范围读数，从而使系统能够使用这些边界。
你也可以用硬盘上的点云文件试试:

$ ./narf_feature_extraction <point_cloud.pcd>

输出结果应该类似如下: