PCL深度图像(3)

#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/parse.h>typedef pcl::PointXYZ PointType;

float angular_resolution = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;bool setUnseenToMaxRange = false;

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 to max range\n"
           << "-h           this help\n"
           << "\n\n";
}

int main (int argc, char** argv)
{
 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, "-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 ());  //传感器的位置
 std::vector<int> 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)   //打开文件    {
     cout << "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_);  //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";
 } 
 else
 {
   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    
    {  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-----  // 
 float noise_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;  
 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");   //创建视口
 viewer.setBackgroundColor (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  
     // -----Extract borders提取边界的部分-----  // 
 pcl::RangeImageBorderExtractor border_extractor (&range_image);
 pcl::PointCloud<pcl::BorderDescription> border_descriptions;
 border_extractor.compute (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,& 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.setPointCloudRenderingProperties (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.setPointCloudRenderingProperties (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.setPointCloudRenderingProperties (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>::infinity (), false,                                                                         border_descriptions, "Range image with borders");
 while (!viewer.wasStopped ())
 {
   range_image_borders_widget->spinOnce ();
   viewer.spinOnce ();
   pcl_sleep(0.01);
 }
}