【pcl学习笔记】NARF从距离图提取关键点

 通过load cloud读入 pcl::PointCloud<PointXYZ> 生成 RangImage 使用 NarfKeypoint 生成的对象 + 深度图像找出关键点

	//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);

完整源码

/* \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";
}

// -----Main-----
int main(int argc, char**argv)
{

	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());

	pcl::io::loadPCDFile("frame_00000.pcd", point_cloud);

	//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(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
}