narf_extraction.cc

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/* \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>

#include <PointCloudUtils.hh>

typedef pcl::PointXYZ PointType;

// --------------------
// -----Parameters-----
// --------------------
float angular_resolution = 0.5f;
float support_size = 0.2f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;

// --------------
// -----Help-----
// --------------
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";
}

void
setViewerPose (pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
{
    Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f (0, 0, 0);
    Eigen::Vector3f look_at_vector = pcl::getRotationOnly (viewer_pose) * Eigen::Vector3f (0, 0, 1) + pos_vector;
    Eigen::Vector3f up_vector = pcl::getRotationOnly (viewer_pose) * Eigen::Vector3f (0, -1, 0);
    viewer.camera_.pos[0] = pos_vector[0];
    viewer.camera_.pos[1] = pos_vector[1];
    viewer.camera_.pos[2] = pos_vector[2];
    viewer.camera_.focal[0] = look_at_vector[0];
    viewer.camera_.focal[1] = look_at_vector[1];
    viewer.camera_.focal[2] = look_at_vector[2];
    viewer.camera_.view[0] = up_vector[0];
    viewer.camera_.view[1] = up_vector[1];
    viewer.camera_.view[2] = up_vector[2];
    viewer.updateCamera ();
}

// --------------
// -----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, "-s", support_size) >= 0)
        cout << "Setting support size to "<<support_size<<".\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);

    // ------------------------------------------------------------------
    // -----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;
    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, "wrl");
    if (!pcd_filename_indices.empty ())
    {
        std::string filename = argv[pcd_filename_indices[0]];
        point_cloud = lslgeneric::readVRML(filename.c_str());
        /*
        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_);
        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 = 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<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 ();

    // --------------------------------------------
    // -----Open 3D viewer and add point cloud-----
    // --------------------------------------------
    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 ());

    // --------------------------
    // -----Show range image-----
    // --------------------------
//    pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
//    range_image_widget.setRangeImage (range_image);

    // --------------------------------
    // -----Extract NARF keypoints-----
    // --------------------------------
    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";

    // ----------------------------------------------
    // -----Show keypoints in range image widget-----
    // ----------------------------------------------
//    for (size_t i=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);

    // -------------------------------------
    // -----Show keypoints in 3D viewer-----
    // -------------------------------------
    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");

    //--------------------
    // -----Main loop-----
    //--------------------
    while (!viewer.wasStopped ()) // && range_image_widget.isShown ())
    {
        //pcl::visualization::ImageWidgetWX::spinOnce ();  // process GUI events
        viewer.spinOnce (100);
        boost::this_thread::sleep (boost::posix_time::microseconds (100000));
    }
}