upload seventh chapter

Signed-off-by: Hao Guo <[email protected]>

第七章/1 range_image_creation/source/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
+project(range_image_creation)
+find_package(PCL 1.2 REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+add_executable (range_image_creation range_image_creation.cpp)
+target_link_libraries (range_image_creation ${PCL_LIBRARIES})

第七章/1 range_image_creation/source/range_image_creation.cpp

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+#include <pcl/range_image/range_image.h>
+int main (int argc, char** argv) {
+ pcl::PointCloud<pcl::PointXYZ> pointCloud;
+ //生成数据
+ for (float y=-0.5f; y<=0.5f; y+=0.01f) {
+ for (float z=-0.5f; z<=0.5f; z+=0.01f) {
+ pcl::PointXYZ point;
+ point.x = 2.0f - y;
+ point.y = y;
+ point.z = z;
+ pointCloud.points.push_back(point);
+ }
+ }
+ pointCloud.width = (uint32_t) pointCloud.points.size();
+ pointCloud.height = 1;
+//以1度为角分辨率，从上面创建的点云创建深度图像。
+ float angularResolution = (float) ( 1.0f * (M_PI/180.0f)); 
+// 1度转弧度
+ float maxAngleWidth = (float) (360.0f * (M_PI/180.0f)); 
+// 360.0度转弧度
+ float maxAngleHeight = (float) (180.0f * (M_PI/180.0f)); 
+// 180.0度转弧度
+ Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
+ pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
+ float noiseLevel=0.00;
+ float minRange = 0.0f;
+ int borderSize = 1;
+ pcl::RangeImage rangeImage;
+ rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight, sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);
+std::cout << rangeImage << "\n";
+}

第七章/2 range_image_border_extraction/source/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
+project(range_image_border_extraction)
+find_package(PCL 1.3 REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+add_executable (range_image_border_extraction range_image_border_extraction.cpp)
+target_link_libraries (range_image_border_extraction ${PCL_LIBRARIES})

第七章/2 range_image_border_extraction/source/range_image_border_extraction.cpp

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+/* \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;
+// --------------------
+// -----参数-----
+// --------------------
+float angular_resolution = 0.5f;
+pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
+bool setUnseenToMaxRange = false;
+// --------------
+// -----帮助-----
+// --------------
+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";
+}
+// --------------
+// -----主函数-----
+// --------------
+int 
+main (int argc, char** argv)
+{
+ // --------------------------------------
+ // -----解析命令行参数-----
+ // --------------------------------------
+ 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);
+ // ------------------------------------------------------------------
+ // -----读取pcd文件，如果没有给出pcd文件则创建一个示例点云-----
+ // ------------------------------------------------------------------
+ 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;
+ }
+ // -----------------------------------------------
+ // -----从点云创建深度图像-----
+ // -----------------------------------------------
+ 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 ();
+ // --------------------------------------------
+ // -----打开三维浏览器并添加点云-----
+ // --------------------------------------------
+ pcl::visualization::PCLVisualizer viewer ("3D Viewer");
+ viewer.setBackgroundColor (1, 1, 1);
+ viewer.addCoordinateSystem (1.0f);
+ 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");
+ // -------------------------
+ // -----提取边界-----
+ // -------------------------
+ pcl::RangeImageBorderExtractor border_extractor (&range_image);
+ pcl::PointCloud<pcl::BorderDescription> border_descriptions;
+ border_extractor.compute (border_descriptions);
+ // ----------------------------------
+ // -----在三维浏览器中显示点集-----
+ // ----------------------------------
+ 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");
+ //-------------------------------------
+ // -----在深度图像中显示点集-----
+ // ------------------------------------
+ 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" ); 
+ // -------------------------------------
+ //--------------------
+ // -----主循环-----
+ //--------------------
+ while (!viewer.wasStopped ())
+ {
+ range_image_borders_widget->spinOnce ();
+ viewer.spinOnce ();
+ pcl_sleep(0.01);
+ }
+}

第七章/3/source/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+set(PCL_DIR "C:/Program\ Files/PCL/cmake/PCLConfig.cmake")
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(greedy_projection)
+
+find_package(PCL 1.2 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (greedy_projection greedy_projection.cpp)
+target_link_libraries (greedy_projection ${PCL_LIBRARIES})

第七章/3/source/greedy_projection.cpp

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+#include <pcl/range_image/range_image.h>
+#include <pcl/range_image/range_image_planar.h>
+#include <pcl/io/io.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/features/integral_image_normal.h>
+#include <pcl/visualization/cloud_viewer.h>
+#include <pcl/point_types.h>
+#include <pcl/features/normal_3d.h>
+#include <pcl/console/print.h>
+#include <pcl/surface/organized_fast_mesh.h>
+#include <pcl/console/time.h>
+#include <Eigen/StdVector>
+#include <Eigen/Geometry>
+#include <iostream>
+#include <pcl/surface/impl/organized_fast_mesh.hpp> 
+#include <boost/thread/thread.hpp>
+
+#include <pcl/common/common_headers.h>
+
+#include <pcl/visualization/range_image_visualizer.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/console/parse.h>
+using namespace pcl::console;
+int main (int argc, char** argv) {
+
+
+ // Generate the data
+ if (argc<2)
+ {
+
+ print_error ("Syntax is: %s input.pcd -w 640 -h 480 -cx 320 -cy 240 -fx 525 -fy 525 -type 0 -size 2\n", argv[0]);
+ print_info (" where options are:\n");
+ print_info (" -w X = width of detph iamge ");
+
+ return -1;
+ }
+ std::string filename = argv[1];
+
+ int width=640,height=480,size=2,type=0;
+ float fx=525,fy=525,cx=320,cy=240;
+
+ parse_argument (argc, argv, "-w", width);
+ parse_argument (argc, argv, "-h", height);
+ parse_argument (argc, argv, "-cx", cx);
+ parse_argument (argc, argv, "-cy", cy);
+ parse_argument (argc, argv, "-fx", fx);
+ parse_argument (argc, argv, "-fy", fy);
+ parse_argument (argc, argv, "-type", type);
+ parse_argument (argc, argv, "-size", size);
+ //convert unorignized point cloud to orginized point cloud begin
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
+ pcl::io::loadPCDFile (filename, *cloud);
+ print_info ("Read pcd file successfully\n");
+ Eigen::Affine3f sensorPose;
+ sensorPose.setIdentity(); 
+ pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
+ float noiseLevel=0.00;
+ float minRange = 0.0f;
+
+ pcl::RangeImagePlanar::Ptr rangeImage(new pcl::RangeImagePlanar);
+ rangeImage->createFromPointCloudWithFixedSize(*cloud,width,height,cx,cy,fx,fy,sensorPose,coordinate_frame);
+ std::cout << rangeImage << "\n";
+ //convert unorignized point cloud to orginized point cloud end
+
+
+ //viusalization of range image
+ pcl::visualization::RangeImageVisualizer range_image_widget ("点云库PCL从入门到精通");
+ range_image_widget.showRangeImage (*rangeImage);
+ range_image_widget.setWindowTitle("点云库PCL从入门到精通");
+ //triangulation based on range image
+ pcl::OrganizedFastMesh<pcl::PointWithRange>::Ptr tri(new pcl::OrganizedFastMesh<pcl::PointWithRange>);
+ pcl::search::KdTree<pcl::PointWithRange>::Ptr tree (new pcl::search::KdTree<pcl::PointWithRange>);
+ tree->setInputCloud(rangeImage);
+ pcl::PolygonMesh triangles;
+ tri->setTrianglePixelSize(size);
+ tri->setInputCloud(rangeImage);
+ tri->setSearchMethod(tree);
+ tri->setTriangulationType((pcl::OrganizedFastMesh<pcl::PointWithRange>::TriangulationType)type);
+ tri->reconstruct(triangles);
+ boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("点云库PCL从入门到精通"));
+ viewer->setBackgroundColor(0.5,0.5,0.5);
+ viewer->addPolygonMesh(triangles,"tin");
+ viewer->addCoordinateSystem();
+ while (!range_image_widget.wasStopped ()&&!viewer->wasStopped())
+ {
+ range_image_widget.spinOnce ();
+
+ pcl_sleep (0.01);
+ viewer->spinOnce ();
+
+ }
+}