This repository has been archived by the owner on Mar 7, 2018. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 36
/
range_image_border_extraction.cpp
190 lines (175 loc) · 8.83 KB
/
range_image_border_extraction.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
/* \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/console/parse.h>
typedef pcl::PointXYZ PointType;
// --------------------
// -----Parameters-----
// --------------------
float angular_resolution = 0.5f;
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 to max range\n"
<< "-h this help\n"
<< "\n\n";
}
// --------------
// -----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, "-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, "pcd");
if (!pcd_filename_indices.empty ())
{
std::string filename = argv[pcd_filename_indices[0]];
if (pcl::io::loadPCDFile (filename, point_cloud) == -1)
{
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_);
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 = (int) 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);
viewer.addCoordinateSystem (1.0f, "global");
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");
//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.setPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 2, "range image");
// -------------------------
// -----Extract borders-----
// -------------------------
pcl::RangeImageBorderExtractor border_extractor (&range_image);
pcl::PointCloud<pcl::BorderDescription> border_descriptions;
border_extractor.compute (border_descriptions);
// ----------------------------------
// -----Show points in 3D viewer-----
// ----------------------------------
pcl::PointCloud<pcl::PointWithRange>::Ptr border_points_ptr(new pcl::PointCloud<pcl::PointWithRange>),
veil_points_ptr(new pcl::PointCloud<pcl::PointWithRange>),
shadow_points_ptr(new pcl::PointCloud<pcl::PointWithRange>);
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");
// -------------------------------------
//--------------------
// -----Main loop-----
//--------------------
while (!viewer.wasStopped ())
{
range_image_borders_widget->spinOnce ();
viewer.spinOnce ();
pcl_sleep(0.01);
}
}