range_image_border_extraction.cpp

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/* \author Bastian Steder */

#include <iostream>
using namespace std;

#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>

using namespace pcl;
using namespace pcl::visualization;
typedef PointXYZ PointType;

// --------------------
// -----Parameters-----
// --------------------
float angular_resolution = 0.5f;
RangeImage::CoordinateFrame coordinate_frame = RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;

// --------------
// -----Help-----
// --------------
void printUsage (const char* progName)
{
  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;
    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 = deg2rad (angular_resolution);
  
  // ------------------------------------------------------------------
  // -----Read pcd file or create example point cloud if not given-----
  // ------------------------------------------------------------------
  pcl::PointCloud<PointType>::Ptr point_cloud_ptr (new pcl::PointCloud<PointType>);
  pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
  PointCloud<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_);
  }
  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 = point_cloud.points.size ();  point_cloud.height = 1;
  }
  
  // -----------------------------------------------
  // -----Create RangeImage from the PointCloud-----
  // -----------------------------------------------
  float noise_level = 0.0;
  float min_range = 0.0f;
  int border_size = 1;
  boost::shared_ptr<RangeImage> range_image_ptr(new RangeImage);
  RangeImage& range_image = *range_image_ptr;   
  range_image.createFromPointCloud (point_cloud, angular_resolution, deg2rad (360.0f), deg2rad (180.0f),
                                   scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
  range_image.integrateFarRanges (far_ranges);
  if (setUnseenToMaxRange)
    range_image.setUnseenToMaxRange ();

  // --------------------------------------------
  // -----Open 3D viewer and add point cloud-----
  // --------------------------------------------
  PCLVisualizer viewer ("3D Viewer");
  viewer.setBackgroundColor (1, 1, 1);
  viewer.addCoordinateSystem (1.0f);
  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");
  
  // -------------------------
  // -----Extract borders-----
  // -------------------------
  RangeImageBorderExtractor border_extractor (&range_image);
  PointCloud<BorderDescription> border_descriptions;
  border_extractor.compute (border_descriptions);
  
  // ----------------------------------
  // -----Show points in 3D viewer-----
  // ----------------------------------
  pcl::PointCloud<PointWithRange>::Ptr border_points_ptr(new pcl::PointCloud<PointWithRange>),
                                       veil_points_ptr(new pcl::PointCloud<PointWithRange>),
                                       shadow_points_ptr(new pcl::PointCloud<PointWithRange>);
  pcl::PointCloud<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[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[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[BORDER_TRAIT__SHADOW_BORDER])
        shadow_points.points.push_back (range_image.points[y*range_image.width + x]);
    }
  }
  PointCloudColorHandlerCustom<PointWithRange> border_points_color_handler (border_points_ptr, 0, 255, 0);
  viewer.addPointCloud<PointWithRange> (border_points_ptr, border_points_color_handler, "border points");
  viewer.setPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 7, "border points");
  PointCloudColorHandlerCustom<PointWithRange> veil_points_color_handler (veil_points_ptr, 255, 0, 0);
  viewer.addPointCloud<PointWithRange> (veil_points_ptr, veil_points_color_handler, "veil points");
  viewer.setPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 7, "veil points");
  PointCloudColorHandlerCustom<PointWithRange> shadow_points_color_handler (shadow_points_ptr, 0, 255, 255);
  viewer.addPointCloud<PointWithRange> (shadow_points_ptr, shadow_points_color_handler, "shadow points");
  viewer.setPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 7, "shadow points");
  
  //-------------------------------------
  // -----Show points on range image-----
  // ------------------------------------
  RangeImageVisualizer* range_image_borders_widget = NULL;
  range_image_borders_widget =
    RangeImageVisualizer::getRangeImageBordersWidget (range_image, -INFINITY, INFINITY, false,
                                                     border_descriptions, "Range image with borders");
  // -------------------------------------
  
  
  //--------------------
  // -----Main loop-----
  //--------------------
  while (!viewer.wasStopped () && range_image_borders_widget->isShown ())
  {
    ImageWidgetWX::spinOnce ();
    viewer.spinOnce (100);
    usleep (100000);
  }
}