点云Harris特征提取

/*
/harris3d ../../Filtering/build/table_scene_lms400_inliers.pcd
*/

#include //标准输入输出流
#include 
#include //PCL的PCD格式文件的输入输出头文件
#include 
//#include //关键点检测
#include 
#include 
#include 
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;
}