PCL——（9）从深度图像中提取边界@
⽬录
从深度图像中提取边界（从前景跨越到背景的位置定义为边界):
物体边界：这是物体的最外层和阴影边界的可见点集.
阴影边界：毗邻于遮挡的背景上的点集（遮挡和背景的交界）
Veil点集，在被遮挡物边界和阴影边界之间的内插点
它们是有激光雷达获取的3D距离数据中的典型数据类型，这三类数据及深度图像的边界如图：
#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/console/par.h>
造化钟神秀下一句
typedef pcl::PointXYZ PointType;
// --------------------
// -----Parameters-----
/
/ --------------------
float angular_resolution = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool tUnenToMaxRange = fal;
// --------------
// -----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 unen points to max range\n"
<< "-h this help\n"
<< "\n\n";
}
// --------------
// -----Main-----
// --------------
int
main (int argc, char** argv)
{
// --------------------------------------
// -----Par Command Line Arguments-----
职教论文// --------------------------------------
// --------------------------------------
if (pcl::console::find_argument (argc, argv, "-h") >= 0)
{
printUsage (argv[0]);
return 0;
}
if (pcl::console::find_argument (argc, argv, "-m") >= 0)
{
tUnenToMaxRange = true;
cout << "Setting unen values in range image to maximum range readings.\n";
}
int tmp_coordinate_frame;
if (pcl::console::par (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::par (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-----
// ------------------------------------------------------------------
对错符号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_nsor_po (Eigen::Affine3f::Identity ()); //传感器的位置
std::vector<int> pcd_filename_indices = pcl::console::par_file_extension_argument (argc, argv, "pcd");
if (!pcd_pty ())
{
std::string filename = argv[pcd_filename_indices[0]];
if (pcl::io::loadPCDFile (filename, point_cloud) == -1) //打开⽂件
{妙语连珠的近义词
cout << "Was not able to open file \""<<filename<<"\".\n";
printUsage (argv[0]);
return 0;
}
文献综述范文scene_nsor_po = Eigen::Affine3f (Eigen::Translation3f (point_cloud.nsor_origin_[0],
point_cloud.nsor_origin_[1],
point_cloud.nsor_origin_[2])) *
Eigen::Affine3f (point_cloud.nsor_orientation_); //仿射变换矩阵
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";
}
el
{
cout << "\nNo *.pcd file given => Genarating example point cloud.\n\n";
for (float x=-0.5f; x<=0.5f; x+=0.01f) //填充⼀个矩形的点云
冷字开头的成语
{
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 = (int) point_cloud.points.size (); point_cloud.height = 1;
}
// -----------------------------------------------
// -----Create RangeImage from the PointCloud-----水管爆裂
/
/ -----------------------------------------------
float noi_level = 0.0; //各种参数的设置
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;
ateFromPointCloud (point_cloud, angular_resolution, pcl::deg2rad (360.0f), pcl::deg2rad (180.0f), scene_nsor_po, coordinate_frame, noi_level, min_range, border_size);
range_image.integrateFarRanges (far_ranges);
if (tUnenToMaxRange)
range_image.tUnenToMaxRange ();
// --------------------------------------------
// -----Open 3D viewer and add point cloud-----
// --------------------------------------------
pcl::visualization::PCLVisualizer viewer ("3D Viewer"); //创建视⼝
viewer.tBackgroundColor (1, 1, 1); //设置背景颜⾊
viewer.addCoordinateSystem (1.0f); //设置坐标系
pcl::visualization::PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 0, 0, 0);
viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud"); //添加点云
//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.tPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 2, "range image");
// -------------------------
// -----Extract borders提取边界的部分-----
// -------------------------
pcl::RangeImageBorderExtractor border_extractor (&range_image);
pcl::PointCloud<pcl::BorderDescription> border_descriptions;
pute (border_descriptions); //提取边界计算描述⼦
// -------------------------------------------------------
// -----Show points in 3D viewer在3D 视⼝中显⽰点云-----
// ----------------------------------------------------
pcl::PointCloud<pcl::PointWithRange>::Ptr border_points_ptr(new pcl::PointCloud<pcl::PointWithRange>), //物体边界
veil_points_ptr(new pcl::PointCloud<pcl::PointWithRange>), //veil边界
shadow_points_ptr(new pcl::PointCloud<pcl::PointWithRange>); //阴影边界
pcl::PointCloud<pcl::PointWithRange>& border_points = *border_points_ptr,
& veil_points = * veil_points_ptr,
办公室英文& 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[pcl::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[pcl::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[pcl::BORDER_TRAIT__SHADOW_BORDER])
shadow_points.points.push_back (range_image.points[y*range_image.width + x]);
}
}
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> border_points_color_handler (border_points_ptr, 0, 255, 0);
viewer.addPointCloud<pcl::PointWithRange> (border_points_ptr, border_points_color_handler, "border points");
viewer.tPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "border points");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> veil_points_color_handler (veil_points_ptr, 255, 0, 0);
viewer.addPointCloud<pcl::PointWithRange> (veil_points_ptr, veil_points_color_handler, "veil points");
viewer.tPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "veil points");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> shadow_points_color_handler (shadow_points_ptr, 0, 255, 255);
viewer.addPointCloud<pcl::PointWithRange> (shadow_points_ptr, shadow_points_color_handler, "shadow points");
viewer.tPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "shadow points");
//-------------------------------------
// -----Show points on range image-----
// ------------------------------------
pcl::visualization::RangeImageVisualizer* range_image_borders_widget = NULL;
range_image_borders_widget =
pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget (range_image, -std::numeric_limits<float>::infinity (), std::numeric_limits<float border_descriptions, "Range image with borders");
// -------------------------------------
//--------------------
/
/ -----Main loop-----
//--------------------
while (!viewer.wasStopped ())
