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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:25:43