narf_feature_extraction.cpp
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00001 /* \author Bastian Steder */
00002 
00003 #include <iostream>
00004 
00005 #include <boost/thread/thread.hpp>
00006 #include <pcl/range_image/range_image.h>
00007 #include <pcl/io/pcd_io.h>
00008 #include <pcl/visualization/range_image_visualizer.h>
00009 #include <pcl/visualization/pcl_visualizer.h>
00010 #include <pcl/features/range_image_border_extractor.h>
00011 #include <pcl/keypoints/narf_keypoint.h>
00012 #include <pcl/features/narf_descriptor.h>
00013 #include <pcl/console/parse.h>
00014 
00015 typedef pcl::PointXYZ PointType;
00016 
00017 // --------------------
00018 // -----Parameters-----
00019 // --------------------
00020 float angular_resolution = 0.5f;
00021 float support_size = 0.2f;
00022 pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
00023 bool setUnseenToMaxRange = false;
00024 bool rotation_invariant = true;
00025 
00026 // --------------
00027 // -----Help-----
00028 // --------------
00029 void 
00030 printUsage (const char* progName)
00031 {
00032   std::cout << "\n\nUsage: "<<progName<<" [options] <scene.pcd>\n\n"
00033             << "Options:\n"
00034             << "-------------------------------------------\n"
00035             << "-r <float>   angular resolution in degrees (default "<<angular_resolution<<")\n"
00036             << "-c <int>     coordinate frame (default "<< (int)coordinate_frame<<")\n"
00037             << "-m           Treat all unseen points to max range\n"
00038             << "-s <float>   support size for the interest points (diameter of the used sphere - "
00039                                                                   "default "<<support_size<<")\n"
00040             << "-o <0/1>     switch rotational invariant version of the feature on/off"
00041             <<               " (default "<< (int)rotation_invariant<<")\n"
00042             << "-h           this help\n"
00043             << "\n\n";
00044 }
00045 
00046 void 
00047 setViewerPose (pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
00048 {
00049   Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f (0, 0, 0);
00050   Eigen::Vector3f look_at_vector = viewer_pose.rotation () * Eigen::Vector3f (0, 0, 1) + pos_vector;
00051   Eigen::Vector3f up_vector = viewer_pose.rotation () * Eigen::Vector3f (0, -1, 0);
00052   viewer.camera_.pos[0] = pos_vector[0];
00053   viewer.camera_.pos[1] = pos_vector[1];
00054   viewer.camera_.pos[2] = pos_vector[2];
00055   viewer.camera_.focal[0] = look_at_vector[0];
00056   viewer.camera_.focal[1] = look_at_vector[1];
00057   viewer.camera_.focal[2] = look_at_vector[2];
00058   viewer.camera_.view[0] = up_vector[0];
00059   viewer.camera_.view[1] = up_vector[1];
00060   viewer.camera_.view[2] = up_vector[2];
00061   viewer.updateCamera ();
00062 }
00063 
00064 // --------------
00065 // -----Main-----
00066 // --------------
00067 int 
00068 main (int argc, char** argv)
00069 {
00070   // --------------------------------------
00071   // -----Parse Command Line Arguments-----
00072   // --------------------------------------
00073   if (pcl::console::find_argument (argc, argv, "-h") >= 0)
00074   {
00075     printUsage (argv[0]);
00076     return 0;
00077   }
00078   if (pcl::console::find_argument (argc, argv, "-m") >= 0)
00079   {
00080     setUnseenToMaxRange = true;
00081     cout << "Setting unseen values in range image to maximum range readings.\n";
00082   }
00083   if (pcl::console::parse (argc, argv, "-o", rotation_invariant) >= 0)
00084     cout << "Switching rotation invariant feature version "<< (rotation_invariant ? "on" : "off")<<".\n";
00085   int tmp_coordinate_frame;
00086   if (pcl::console::parse (argc, argv, "-c", tmp_coordinate_frame) >= 0)
00087   {
00088     coordinate_frame = pcl::RangeImage::CoordinateFrame (tmp_coordinate_frame);
00089     cout << "Using coordinate frame "<< (int)coordinate_frame<<".\n";
00090   }
00091   if (pcl::console::parse (argc, argv, "-s", support_size) >= 0)
00092     cout << "Setting support size to "<<support_size<<".\n";
00093   if (pcl::console::parse (argc, argv, "-r", angular_resolution) >= 0)
00094     cout << "Setting angular resolution to "<<angular_resolution<<"deg.\n";
00095   angular_resolution = pcl::deg2rad (angular_resolution);
00096   
00097   // ------------------------------------------------------------------
00098   // -----Read pcd file or create example point cloud if not given-----
00099   // ------------------------------------------------------------------
00100   pcl::PointCloud<PointType>::Ptr point_cloud_ptr (new pcl::PointCloud<PointType>);
00101   pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
00102   pcl::PointCloud<pcl::PointWithViewpoint> far_ranges;
00103   Eigen::Affine3f scene_sensor_pose (Eigen::Affine3f::Identity ());
00104   std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument (argc, argv, "pcd");
00105   if (!pcd_filename_indices.empty ())
00106   {
00107     std::string filename = argv[pcd_filename_indices[0]];
00108     if (pcl::io::loadPCDFile (filename, point_cloud) == -1)
00109     {
00110       cerr << "Was not able to open file \""<<filename<<"\".\n";
00111       printUsage (argv[0]);
00112       return 0;
00113     }
00114     scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f (point_cloud.sensor_origin_[0],
00115                                                                point_cloud.sensor_origin_[1],
00116                                                                point_cloud.sensor_origin_[2])) *
00117                         Eigen::Affine3f (point_cloud.sensor_orientation_);
00118     std::string far_ranges_filename = pcl::getFilenameWithoutExtension (filename)+"_far_ranges.pcd";
00119     if (pcl::io::loadPCDFile (far_ranges_filename.c_str (), far_ranges) == -1)
00120       std::cout << "Far ranges file \""<<far_ranges_filename<<"\" does not exists.\n";
00121   }
00122   else
00123   {
00124     setUnseenToMaxRange = true;
00125     cout << "\nNo *.pcd file given => Genarating example point cloud.\n\n";
00126     for (float x=-0.5f; x<=0.5f; x+=0.01f)
00127     {
00128       for (float y=-0.5f; y<=0.5f; y+=0.01f)
00129       {
00130         PointType point;  point.x = x;  point.y = y;  point.z = 2.0f - y;
00131         point_cloud.points.push_back (point);
00132       }
00133     }
00134     point_cloud.width = (int) point_cloud.points.size ();  point_cloud.height = 1;
00135   }
00136   
00137   // -----------------------------------------------
00138   // -----Create RangeImage from the PointCloud-----
00139   // -----------------------------------------------
00140   float noise_level = 0.0;
00141   float min_range = 0.0f;
00142   int border_size = 1;
00143   boost::shared_ptr<pcl::RangeImage> range_image_ptr (new pcl::RangeImage);
00144   pcl::RangeImage& range_image = *range_image_ptr;   
00145   range_image.createFromPointCloud (point_cloud, angular_resolution, pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
00146                                    scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
00147   range_image.integrateFarRanges (far_ranges);
00148   if (setUnseenToMaxRange)
00149     range_image.setUnseenToMaxRange ();
00150   
00151   // --------------------------------------------
00152   // -----Open 3D viewer and add point cloud-----
00153   // --------------------------------------------
00154   pcl::visualization::PCLVisualizer viewer ("3D Viewer");
00155   viewer.setBackgroundColor (1, 1, 1);
00156   pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
00157   viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
00158   viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
00159   //viewer.addCoordinateSystem (1.0f);
00160   //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
00161   //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
00162   viewer.initCameraParameters ();
00163   setViewerPose (viewer, range_image.getTransformationToWorldSystem ());
00164   
00165   // --------------------------
00166   // -----Show range image-----
00167   // --------------------------
00168   pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
00169   range_image_widget.showRangeImage (range_image);
00170   
00171   // --------------------------------
00172   // -----Extract NARF keypoints-----
00173   // --------------------------------
00174   pcl::RangeImageBorderExtractor range_image_border_extractor;
00175   pcl::NarfKeypoint narf_keypoint_detector;
00176   narf_keypoint_detector.setRangeImageBorderExtractor (&range_image_border_extractor);
00177   narf_keypoint_detector.setRangeImage (&range_image);
00178   narf_keypoint_detector.getParameters ().support_size = support_size;
00179   
00180   pcl::PointCloud<int> keypoint_indices;
00181   narf_keypoint_detector.compute (keypoint_indices);
00182   std::cout << "Found "<<keypoint_indices.points.size ()<<" key points.\n";
00183 
00184   // ----------------------------------------------
00185   // -----Show keypoints in range image widget-----
00186   // ----------------------------------------------
00187   //for (size_t i=0; i<keypoint_indices.points.size (); ++i)
00188     //range_image_widget.markPoint (keypoint_indices.points[i]%range_image.width,
00189                                   //keypoint_indices.points[i]/range_image.width);
00190   
00191   // -------------------------------------
00192   // -----Show keypoints in 3D viewer-----
00193   // -------------------------------------
00194   pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_ptr (new pcl::PointCloud<pcl::PointXYZ>);
00195   pcl::PointCloud<pcl::PointXYZ>& keypoints = *keypoints_ptr;
00196   keypoints.points.resize (keypoint_indices.points.size ());
00197   for (size_t i=0; i<keypoint_indices.points.size (); ++i)
00198     keypoints.points[i].getVector3fMap () = range_image.points[keypoint_indices.points[i]].getVector3fMap ();
00199   pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> keypoints_color_handler (keypoints_ptr, 0, 255, 0);
00200   viewer.addPointCloud<pcl::PointXYZ> (keypoints_ptr, keypoints_color_handler, "keypoints");
00201   viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "keypoints");
00202   
00203   // ------------------------------------------------------
00204   // -----Extract NARF descriptors for interest points-----
00205   // ------------------------------------------------------
00206   std::vector<int> keypoint_indices2;
00207   keypoint_indices2.resize (keypoint_indices.points.size ());
00208   for (unsigned int i=0; i<keypoint_indices.size (); ++i) // This step is necessary to get the right vector type
00209     keypoint_indices2[i]=keypoint_indices.points[i];
00210   pcl::NarfDescriptor narf_descriptor (&range_image, &keypoint_indices2);
00211   narf_descriptor.getParameters ().support_size = support_size;
00212   narf_descriptor.getParameters ().rotation_invariant = rotation_invariant;
00213   pcl::PointCloud<pcl::Narf36> narf_descriptors;
00214   narf_descriptor.compute (narf_descriptors);
00215   cout << "Extracted "<<narf_descriptors.size ()<<" descriptors for "
00216                       <<keypoint_indices.points.size ()<< " keypoints.\n";
00217   
00218   //--------------------
00219   // -----Main loop-----
00220   //--------------------
00221   while (!viewer.wasStopped ())
00222   {
00223     range_image_widget.spinOnce ();  // process GUI events
00224     viewer.spinOnce ();
00225     pcl_sleep(0.01);
00226   }
00227 }


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:46