点云Harris特征提取

/* /harris3d ../../Filtering/build/table_scene_lms400_inliers.pcd */ #include <iostream>//标准输入输出流 #include <boost/thread/thread.hpp> #include <pcl/io/pcd_io.h>//PCL的PCD格式文件的输入输出头文件 #include <pcl/visualization/pcl_visualizer.h> //#include <pcl/keypoints/narf_keypoint.h>//关键点检测 #include <pcl/keypoints/harris_3d.h> #include <cstdlib> #include <vector> using namespace std; //定义别名 typedef pcl::PointXYZ PointType; // -----Main----- int main(int argc, char** argv) { // ------------------------------------------------------------------ // -----Read pcd file or create example point cloud if not given----- // ------------------------------------------------------------------ //读取pcd文件 pcl::PointCloud<PointType>::Ptr point_cloud_ptr(new pcl::PointCloud<PointType>);//点云对象指针 pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;//引用　上面点云的别名　常亮指针 pcl::io::loadPCDFile<pcl::PointXYZ>("C:\\Users\\23124\\source\\常用的三维点云数据\\Dino.pcd", *point_cloud_ptr); boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); viewer->addPointCloud<pcl::PointXYZ>(point_cloud_ptr, "sample cloud1"); // -------------------------------------------- // -----Open 3D viewer and add point cloud----- // -------------------------------------------- // -----Extract Harri keypoints----- // -------------------------------- // 提取Harri关键点 pcl::HarrisKeypoint3D<pcl::PointXYZ, pcl::PointXYZI, pcl::Normal> harris; harris.setInputCloud(point_cloud_ptr);//设置输入点云 指针 cout << "input successful" << endl; harris.setNonMaxSupression(true); harris.setRadius(0.06f);//　块体半径 harris.setThreshold(0.02f);//数量阈值 cout << "parameter set successful" << endl; //新建的点云必须初始化，清零，否则指针会越界 //注意Harris的输出点云必须是有强度(I)信息的 pcl::PointXYZI，因为评估值保存在I分量里 pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_out_ptr(new pcl::PointCloud<pcl::PointXYZI>); pcl::PointCloud<pcl::PointXYZI>& cloud_out = *cloud_out_ptr; cloud_out.height = 1; cloud_out.width = 100; cloud_out.resize(cloud_out.height * cloud_out.width); cloud_out.clear(); cout << "extracting... " << endl; // 计算特征点 harris.compute(cloud_out); // 关键点 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_harris_ptr(new pcl::PointCloud<pcl::PointXYZ>);//指针 pcl::PointCloud<pcl::PointXYZ>& cloud_harris = *cloud_harris_ptr;//引用 cloud_harris.height = 1; cloud_harris.width = 100; cloud_harris.resize(cloud_out.height * cloud_out.width); cloud_harris.clear();//清空 int size = cloud_out.size(); cout << "extraction : " << size << " n keypoints." << endl; pcl::PointXYZ point; //可视化结果不支持XYZI格式点云，所有又要导回XYZ格式。。。。 for (int i = 0; i < size; ++i) { point.x = cloud_out.at(i).x; point.y = cloud_out.at(i).y; point.z = cloud_out.at(i).z; cloud_harris.push_back(point); } // ------------------------------------- // -----Show keypoints in 3D viewer----- // ------------------------------------- //在3D图形窗口中显示关键点 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> harris_color_handler(cloud_harris_ptr, 255, 0, 0);//第一个参数类型为　指针 viewer->addPointCloud(cloud_harris_ptr, harris_color_handler, "harris");//第一个参数类型为　指针 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "harris"); //-------------------- // -----Main loop----- //-------------------- while (!viewer->wasStopped()) { viewer->spinOnce(100); } return 0; }