PCL RangeImage Border 提取

物体边界，这是物体最外层和阴影边界的可见点集；阴影边界，毗连于遮挡的背景上的点集；Veil点集，在被遮挡物边界和阴影边界之间的内插点，它们是由激光雷达获取的3D距离数据中的典型数据类型

#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/console/parse.h>
#include<pcl/common/file_io.h>

typedef pcl::PointXYZ PointType;
float angular_resolution = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;

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";
}


// --------------
// -----Main-----
// --------------
int
main(int argc, char** argv)
{
   
    // --------------------------------------
    // -----Parse Command Line Arguments-----
    // --------------------------------------
    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";
    }
    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