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关键点也称为兴趣点#xff0c;它是 2D 图像或 3D 点云或曲面模型上,可以通过检测标准来获取的具有稳定性、区别性的点集。从技术上来说,关键点的数量比原始点云或图像的数据量少很多#xff0c;其与局部特征描述子结合组成关键点描述子。常用来构成原始数据的紧凑表示…简介
关键点也称为兴趣点它是 2D 图像或 3D 点云或曲面模型上,可以通过检测标准来获取的具有稳定性、区别性的点集。从技术上来说,关键点的数量比原始点云或图像的数据量少很多其与局部特征描述子结合组成关键点描述子。常用来构成原始数据的紧凑表示 具有代表性与描述性从而加快后续识别、追踪等对数据的处理速度 。
固而关键点提取就成为 2D 与 3D 信息处理中不可或缺的关键技术 。
NARF(Normal Aligned Radial Feature)关键点是为了从深度图像中识别物体而提出的,关键点探测的重要一步是减少特征提取时的搜索空间,把重点放在重要的结构上,对 NARF 关键点提取过程有以下要求:
提取的过程必须考虑边缘以及物体表面变化信息在内;关键点的位置必须稳定的可以被重复探测即使换了不同的视角;关键点所在的位置必须有稳定的支持区域,可以计算描述子和进行唯一的估计法向量。
为了满足上述要求,提出以下探测步骤来进行关键点提取:
遍历每个深度图像点,通过寻找在近区域有深度突变的位置进行边缘检测。遍历每个深度图像点,根据近邻区域的表面变化决定一测度表面变化的系数,以及变化的主方向。根据第二步找到的主方向计算兴趣值表征该方向与其他方向的不同以及该处表面的变化情况即该点有多稳定。对兴趣值进行平滑过滤。进行无最大值压缩找到最终的关键点即为 NARF关键点 /* \author Bastian Steder */#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/keypoints/narf_keypoint.h
#include pcl/console/parse.h
#include pcl/common/file_io.h // for getFilenameWithoutExtensiontypedef 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 viewer_pose.rotation () * Eigen::Vector3f (0, 0, 1) pos_vector;//Eigen::Vector3f up_vector viewer_pose.rotation () * Eigen::Vector3f (0, -1, 0);//viewer.setCameraPosition (pos_vector[0], pos_vector[1], pos_vector[2],//look_at_vector[0], look_at_vector[1], look_at_vector[2],//up_vector[0], up_vector[1], up_vector[2]);
//}// --------------
// -----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 (int)coordinate_frame .\n;}if (pcl::console::parse(argc, argv, -s, support_size) 0)std::cout Setting support size to support_size .\n;if (pcl::console::parse(argc, argv, -r, angular_resolution) 0)std::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::PointCloudPointType::Ptr point_cloud_ptr(new pcl::PointCloudPointType);pcl::PointCloudPointType point_cloud *point_cloud_ptr;pcl::PointCloudpcl::PointWithViewpoint far_ranges;Eigen::Affine3f scene_sensor_pose(Eigen::Affine3f::Identity());std::vectorint 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){std::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{setUnseenToMaxRange true;std::cout \nNo *.pcd file given Generating 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.push_back(point);}}point_cloud.width point_cloud.size(); point_cloud.height 1;}// -----------------------------------------------// -----Create RangeImage from the PointCloud-----// -----------------------------------------------float noise_level 0.0;float min_range 0.0f;int border_size 1;pcl::RangeImage::Ptr 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::PointCloudColorHandlerCustompcl::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, global);//PointCloudColorHandlerCustomPointType 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.showRangeImage(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::PointCloudint keypoint_indices;narf_keypoint_detector.compute(keypoint_indices);std::cout Found keypoint_indices.size() key points.\n;// ----------------------------------------------// -----Show keypoints in range image widget-----// ----------------------------------------------//for (std::size_t i0; ikeypoint_indices.size (); i)//range_image_widget.markPoint (keypoint_indices[i]%range_image.width,//keypoint_indices[i]/range_image.width);// -------------------------------------// -----Show keypoints in 3D viewer-----// -------------------------------------pcl::PointCloudpcl::PointXYZ::Ptr keypoints_ptr(new pcl::PointCloudpcl::PointXYZ);pcl::PointCloudpcl::PointXYZ keypoints *keypoints_ptr;keypoints.resize(keypoint_indices.size());for (std::size_t i 0; i keypoint_indices.size(); i)keypoints[i].getVector3fMap() range_image[keypoint_indices[i]].getVector3fMap();pcl::visualization::PointCloudColorHandlerCustompcl::PointXYZ keypoints_color_handler(keypoints_ptr, 0, 255, 0);viewer.addPointCloudpcl::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.spinOnce(); // process GUI eventsviewer.spinOnce();pcl_sleep(0.01);}
}找不到那个far文件无法运行
