PCL笔记七：深度图像

深度图像获取方法由：

• 激光雷达深度成像法
• 计算机立体视觉成像
• 坐标测量机法
• 莫尔条纹法
• 结构光法

针对深度图像的研究重点：

• 深度图像的分割技术
• 深度图像的边缘检测技术
• 基于不同视点的多幅深度图像的配准技术
• 基于深度数据的三维重建技术
• 基于深度图像的三维目标识别技术
• 深度数据的多分辨率建模
• 几何压缩技术。

PCL中深度图像与点云最主要的区别在于：近邻检索方式不同。

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从一个点云创建一个深度图像

#include <pcl/range_image/range_image.h>
int main(int argc, char** argv) {
    pcl::PointCloud<pcl::PointXYZ> pointCloud;
    //生成数据
    for (float y = -0.5f; y <= 0.5f; y += 0.01f) {
        for (float z = -0.5f; z <= 0.5f; z += 0.01f) {
            pcl::PointXYZ point;
            point.x = 2.0f - y;
            point.y = y;
            point.z = z;
            pointCloud.points.push_back(point);
        }
    }
    //pointCloud.width = (uint32_t)pointCloud.points.size();
    pointCloud.width = pointCloud.size();
    pointCloud.height = 1;
    //以1度为角分辨率，从上面创建的点云创建深度图像。
    float angularResolution = (float)(1.0f * (M_PI / 180.0f));
    // 1度转弧度
    float maxAngleWidth = (float)(360.0f * (M_PI / 180.0f));
    // 360.0度转弧度
    float maxAngleHeight = (float)(180.0f * (M_PI / 180.0f));
    // 180.0度转弧度
    Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
    pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
    float noiseLevel = 0.00;
    float minRange = 0.0f;
    int borderSize = 1;
    pcl::RangeImage rangeImage;
    rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight, sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);
    std::cout << rangeImage << "\n";
}

 按照官网检查，并且按照书本上的仔细检查，还是报错了。我一直猜测是我环境版本问题。问题记录。后续解决。

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从深度图像提取边界

从前景跨越到背景的位置定义为边界。

我们对三种类型的点集感兴趣：它们是由激光雷达获取的3D距离数据中的典型数据类型。

• 物体边界：是物体最外层和阴影边界的可见点集；
• 阴影边界：毗连与遮挡的背景上的点集；
• Veil点集：在被遮挡边界和阴影边界之间的内插点，

/* \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/console/parse.h>
#include <pcl/pcl_macros.h>
#include <pcl/common/file_io.h> //for getFilenameWithoutExtension：pcl找不到getFilenameWithoutExtension解决方案

// 解决最后一行：未定义标识符"sleep"的问题：参考https://codeleading.com/article/50065656080/
#ifdef WIN32
#define pcl_sleep(x) Sleep(1000*(x))
#else
#define pcl_sleep(x) sleep(x)
#endif

typedef pcl::PointXYZ PointType;
// --------------------
// -----参数-----
// --------------------
float angular_resolution = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;
// --------------
// -----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"
        << "-h           this help\n"
        << "\n\n";
}
// --------------
// -----主函数-----
// --------------
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, "-r", angular_resolution) >= 0)
        cout << "Setting angular resolution to " << angular_resolution << "deg.\n";
    angular_resolution = pcl::deg2rad(angular_resolution);
    // ------------------------------------------------------------------
    // -----读取pcd文件，如果没有给出pcd文件则创建一个示例点云-----
    // ------------------------------------------------------------------
    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)
        {
            cout << "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
    {
        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;
    }
    // -----------------------------------------------
    // -----从点云创建深度图像-----
    // -----------------------------------------------
    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();
    // --------------------------------------------
    // -----打开三维浏览器并添加点云-----
    // --------------------------------------------
    pcl::visualization::PCLVisualizer viewer("3D Viewer");
    viewer.setBackgroundColor(1, 1, 1);
    viewer.addCoordinateSystem(1.0f);
    pcl::visualization::PointCloudColorHandlerCustom<PointType> point_cloud_color_handler(point_cloud_ptr, 0, 0, 0);
    viewer.addPointCloud(point_cloud_ptr, point_cloud_color_handler, "original point cloud");
    //PointCloudColorHandlerCustom<pcl::PointWithRange>   range_image_color_handler (range_image_ptr, 150, 150, 150);
    //viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
    //viewer.setPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 2, "range image");
    // -------------------------
    // -----提取边界-----
    // -------------------------
    pcl::RangeImageBorderExtractor border_extractor(&range_image);
    pcl::PointCloud<pcl::BorderDescription> border_descriptions;
    border_extractor.compute(border_descriptions);
    // ----------------------------------
    // -----在三维浏览器中显示点集-----
    // ----------------------------------
    pcl::PointCloud<pcl::PointWithRange>::Ptr border_points_ptr(new pcl::PointCloud<pcl::PointWithRange>), veil_points_ptr(new pcl::PointCloud<pcl::PointWithRange>), shadow_points_ptr(new pcl::PointCloud<pcl::PointWithRange>);
    pcl::PointCloud<pcl::PointWithRange>& border_points = *border_points_ptr, & veil_points = *veil_points_ptr, & shadow_points = *shadow_points_ptr;
    for (int y = 0; y < (int)range_image.height; ++y)
    {
        for (int x = 0; x < (int)range_image.width; ++x)
        {
            if (border_descriptions.points[y * range_image.width + x].traits[pcl::BORDER_TRAIT__OBSTACLE_BORDER])
                border_points.points.push_back(range_image.points[y * range_image.width + x]);
            if (border_descriptions.points[y * range_image.width + x].traits[pcl::BORDER_TRAIT__VEIL_POINT])
                veil_points.points.push_back(range_image.points[y * range_image.width + x]);
            if (border_descriptions.points[y * range_image.width + x].traits[pcl::BORDER_TRAIT__SHADOW_BORDER])
                shadow_points.points.push_back(range_image.points[y * range_image.width + x]);
        }
    }
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> border_points_color_handler(border_points_ptr, 0, 255, 0);
    viewer.addPointCloud<pcl::PointWithRange>(border_points_ptr, border_points_color_handler, "border points");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "border points");
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> veil_points_color_handler(veil_points_ptr, 255, 0, 0);
    viewer.addPointCloud<pcl::PointWithRange>(veil_points_ptr, veil_points_color_handler, "veil points");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "veil points");
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> shadow_points_color_handler(shadow_points_ptr, 0, 255, 255);
    viewer.addPointCloud<pcl::PointWithRange>(shadow_points_ptr, shadow_points_color_handler, "shadow points");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "shadow points");
    //-------------------------------------
    // -----在深度图像中显示点集-----
    // ------------------------------------
    pcl::visualization::RangeImageVisualizer* range_image_borders_widget = NULL;
    range_image_borders_widget =
        pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget(range_image, -std::numeric_limits<float>::infinity(), std::numeric_limits<float>::infinity(), false, border_descriptions, "Range image with borders");
    // -------------------------------------
    //--------------------
    // -----主循环-----
    //--------------------
    while (!viewer.wasStopped())
    {
        range_image_borders_widget->spinOnce();
        viewer.spinOnce();
        pcl_sleep(0.01);
    }
}

输出：

这么多bug实在不友好。记录保留。

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点云到深度图的变换与曲面重建

点云与深度图：

• 点云数据需要通过k-d tree等索引来对数据进行检索。
• 深度图和图像类似，可以通过上下左右等近邻来直接进行索引。

案例：将点云数据转换成深度图，进而使用PCL内部只适用深度图的算法来进行曲面重建。

#include <pcl/range_image/range_image.h>
#include <pcl/range_image/range_image_planar.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/console/print.h>
#include <pcl/surface/organized_fast_mesh.h>
#include <pcl/console/time.h>
#include <Eigen/StdVector>
#include <Eigen/Geometry>
#include <iostream>
#include <pcl/surface/impl/organized_fast_mesh.hpp> 
#include <boost/thread/thread.hpp>

#include <pcl/common/common_headers.h>

#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>
using namespace pcl::console;

#ifdef WIN32
#define pcl_sleep(x) Sleep(1000*(x))
#else
#define pcl_sleep(x) sleep(x)
#endif


int main(int argc, char** argv) {


	// Generate the data
	if (argc < 2)
	{

		print_error("Syntax is: %s input.pcd -w 640 -h 480 -cx 320 -cy 240 -fx 525 -fy 525 -type 0 -size 2\n", argv[0]);
		print_info("  where options are:\n");
		print_info("                     -w X = width of detph iamge ");

		return -1;
	}
	std::string filename = argv[1];

	int width = 640, height = 480, size = 2, type = 0;
	float fx = 525, fy = 525, cx = 320, cy = 240;

	parse_argument(argc, argv, "-w", width);   // 深度图像宽度
	parse_argument(argc, argv, "-h", height);  // 高度
	parse_argument(argc, argv, "-cx", cx);     // 光轴在深度图像上的x坐标
	parse_argument(argc, argv, "-cy", cy);     // 光轴在深度图像上的y坐标
	parse_argument(argc, argv, "-fx", fx);     // 水平方向焦距
	parse_argument(argc, argv, "-fy", fy);     // 垂直方向焦距
	parse_argument(argc, argv, "-type", type); // 曲面重建时三角化的方式
	parse_argument(argc, argv, "-size", size); // 曲面重建时的面片的大小
	//convert unorignized point cloud to orginized point cloud begin
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
	pcl::io::loadPCDFile(filename, *cloud);
	print_info("Read pcd file successfully\n");
	Eigen::Affine3f sensorPose;  // 成像时相机的位姿，成像时遵循的坐标系统。
	sensorPose.setIdentity();
	pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
	float noiseLevel = 0.00;  // 成像时模拟噪声的水平。
	float minRange = 0.0f;    // 成像时考虑该阈值外的点。

	pcl::RangeImagePlanar::Ptr rangeImage(new pcl::RangeImagePlanar);
	rangeImage->createFromPointCloudWithFixedSize(*cloud, width, height, cx, cy, fx, fy, sensorPose, coordinate_frame);
	std::cout << rangeImage << "\n";
	//convert unorignized point cloud to orginized point cloud end


	//viusalization of range image
	pcl::visualization::RangeImageVisualizer range_image_widget("点云库PCL从入门到精通");
	range_image_widget.showRangeImage(*rangeImage);
	range_image_widget.setWindowTitle("点云库PCL从入门到精通");
	//triangulation based on range image
	pcl::OrganizedFastMesh<pcl::PointWithRange>::Ptr tri(new pcl::OrganizedFastMesh<pcl::PointWithRange>);
	pcl::search::KdTree<pcl::PointWithRange>::Ptr tree(new pcl::search::KdTree<pcl::PointWithRange>);
	tree->setInputCloud(rangeImage);
	pcl::PolygonMesh triangles;
	tri->setTrianglePixelSize(size);   // 控制重建曲面的精细程度。
	tri->setInputCloud(rangeImage);
	tri->setSearchMethod(tree);
	tri->setTriangulationType((pcl::OrganizedFastMesh<pcl::PointWithRange>::TriangulationType)type); // 三角化类型：枚举类型。
	tri->reconstruct(triangles);
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("点云库PCL从入门到精通"));
	viewer->setBackgroundColor(0.5, 0.5, 0.5);
	viewer->addPolygonMesh(triangles, "tin");
	viewer->addCoordinateSystem();
	while (!range_image_widget.wasStopped() && !viewer->wasStopped())
	{
		range_image_widget.spinOnce();

		pcl_sleep(0.01);
		viewer->spinOnce();

	}
}

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