介绍：超体素
超体素只是把对象分成一个个小补丁，之后还需要采用相关的算法进行超体素的聚类，才能得到最终的结果。
代码如下：
#include <pcl/common/time.h>
#include <pcl/console/parse.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/png_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/segmentation/supervoxel_clustering.h>
#include <vtkImageReader2Factory.h>
#include <vtkImageReader2.h>
#include <vtkImageData.h>
#include <vtkImageFlip.h>
#include <vtkPolyLine.h>
// Types
typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
typedef pcl::PointNormal PointNT;
typedef pcl::PointCloud<PointNT> PointNCloudT;
typedef pcl::PointXYZL PointLT;
typedef pcl::PointCloud<PointLT> PointLCloudT;
typedef pcl::Normal NormalT;
typedef pcl::PointCloud<NormalT> NormalCloudT;
bool show_voxel_centroids = true;
bool show_supervoxels = true;
bool show_supervoxel_normals = false;
bool show_graph = false;
bool show_normals = false;
bool show_refined = false;
bool show_help = true;
/** \brief Callback for setting options in the visualizer via keyboard.
* \param[in] event Registered keyboard event */
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
int key = event.getKeyCode ();
if (event.keyUp ())
switch (key)
{
case (int)'1': show_voxel_centroids = !show_voxel_centroids; break;
case (int)'2': show_supervoxels = !show_supervoxels; break;
case (int)'3': show_graph = !show_graph; break;
case (int)'4': show_normals = !show_normals; break;
case (int)'5': show_supervoxel_normals = !show_supervoxel_normals; break;
case (int)'0': show_refined = !show_refined; break;
case (int)'h': case (int)'H': show_help = !show_help; break;
default: break;
}
}
void addSupervoxelConnectionsToViewer (PointT &supervoxel_center,
PointCloudT &adjacent_supervoxel_centers,
std::string supervoxel_name,
boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);
/** \brief Displays info text in the specified PCLVisualizer
* \param[in] viewer_arg The PCLVisualizer to modify */
void printText (boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer);
/** \brief Removes info text in the specified PCLVisualizer
* \param[in] viewer_arg The PCLVisualizer to modify */
void removeText (boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer);
/** \brief Checks if the PCLPointCloud2 pc2 has the field named field_name
* \param[in] pc2 PCLPointCloud2 to check
* \param[in] field_name Fieldname to check
* \return True if field has been found, false otherwise */
bool
hasField (const pcl::PCLPointCloud2 &pc2, const std::string field_name);
using namespace pcl;
int
main (int argc, char ** argv)
{
if (argc < 2)
{
pcl::console::print_info ("Syntax is: %s {-p <pcd-file> OR -r <rgb-file> -d <depth-file>} \n --NT (disables use of single camera transform) \n -o <output-file> \n -O <refined-output-file> \n-l <output-label-file> \n -L <refined-output-label-file> \n-v <voxel resolution> \n-s <seed resolution> \n-c <color weight> \n-z <spatial weight> \n-n <normal_weight>] \n", argv[0]);
return (1);
}
/// //
// //
// THIS IS ALL JUST INPUT HANDLING - Scroll down until
// pcl::SupervoxelClustering<pcl::PointXYZRGB> super
// //
std::string rgb_path;
bool rgb_file_specified = pcl::console::find_switch (argc, argv, "-r");
if (rgb_file_specified)
pcl::console::parse (argc, argv, "-r", rgb_path);
std::string depth_path;
bool depth_file_specified = pcl::console::find_switch (argc, argv, "-d");
if (depth_file_specified)
pcl::console::parse (argc, argv, "-d", depth_path);
PointCloudT::Ptr cloud = boost::shared_ptr<PointCloudT> (new PointCloudT);
NormalCloudT::Ptr input_normals = boost::make_shared < NormalCloudT > ();
bool pcd_file_specified = pcl::console::find_switch (argc, argv, "-p");
std::string pcd_path;
if (!depth_file_specified || !rgb_file_specified)
{
std::cout << "Using point cloud\n";
if (!pcd_file_specified)
{
std::cout << "No cloud specified!\n";
return (1);
}else
{
pcl::console::parse (argc,argv,"-p",pcd_path);
}
}
bool disable_transform = pcl::console::find_switch (argc, argv, "--NT");
bool ignore_provided_normals = pcl::console::find_switch (argc, argv, "--nonormals");
bool has_normals = false;
std::string out_path = "test_output.png";;
pcl::console::parse (argc, argv, "-o", out_path);
std::string out_label_path = "test_output_labels.png";
pcl::console::parse (argc, argv, "-l", out_label_path);
std::string refined_out_path = "refined_test_output.png";
pcl::console::parse (argc, argv, "-O", refined_out_path);
std::string refined_out_label_path = "refined_test_output_labels.png";;
pcl::console::parse (argc, argv, "-L", refined_out_label_path);
float voxel_resolution = 0.008f;
pcl::console::parse (argc, argv, "-v", voxel_resolution);
float seed_resolution = 0.08f;
pcl::console::parse (argc, argv, "-s", seed_resolution);
float color_importance = 0.2f;
pcl::console::parse (argc, argv, "-c", color_importance);
float spatial_importance = 0.4f;
pcl::console::parse (argc, argv, "-z", spatial_importance);
float normal_importance = 1.0f;
pcl::console::parse (argc, argv, "-n", normal_importance);
if (!pcd_file_specified)
{
//Read the images
vtkSmartPointer<vtkImageReader2Factory> reader_factory = vtkSmartPointer<vtkImageReader2Factory>::New ();
vtkImageReader2* rgb_reader = reader_factory->CreateImageReader2 (rgb_path.c_str ());
//qDebug () << "RGB File="<< QString::fromStdString(rgb_path);
if ( ! rgb_reader->CanReadFile (rgb_path.c_str ()))
{
std::cout << "Cannot read rgb image file!";
return (1);
}
rgb_reader->SetFileName (rgb_path.c_str ());
rgb_reader->Update ();
//qDebug () << "Depth File="<<QString::fromStdString(depth_path);
vtkImageReader2* depth_reader = reader_factory->CreateImageReader2 (depth_path.c_str ());
if ( ! depth_reader->CanReadFile (depth_path.c_str ()))
{
std::cout << "Cannot read depth image file!";
return (1);
}
depth_reader->SetFileName (depth_path.c_str ());
depth_reader->Update ();
vtkSmartPointer<vtkImageFlip> flipXFilter = vtkSmartPointer<vtkImageFlip>::New();
flipXFilter->SetFilteredAxis(0); // flip x axis
flipXFilter->SetInputConnection(rgb_reader->GetOutputPort());
flipXFilter->Update();
vtkSmartPointer<vtkImageFlip> flipXFilter2 = vtkSmartPointer<vtkImageFlip>::New();
flipXFilter2->SetFilteredAxis(0); // flip x axis
flipXFilter2->SetInputConnection(depth_reader->GetOutputPort());
flipXFilter2->Update();
vtkSmartPointer<vtkImageData> rgb_image = flipXFilter->GetOutput ();
int *rgb_dims = rgb_image->GetDimensions ();
vtkSmartPointer<vtkImageData> depth_image = flipXFilter2->GetOutput ();
int *depth_dims = depth_image->GetDimensions ();
if (rgb_dims[0] != depth_dims[0] || rgb_dims[1] != depth_dims[1])
{
std::cout << "Depth and RGB dimensions to not match!";
std::cout << "RGB Image is of size "<<rgb_dims[0] << " by "<<rgb_dims[1];
std::cout << "Depth Image is of size "<<depth_dims[0] << " by "<<depth_dims[1];
return (1);
}
cloud->points.reserve (depth_dims[0] * depth_dims[1]);
cloud->width = depth_dims[0];
cloud->height = depth_dims[1];
cloud->is_dense = false;
// Fill in image data
int centerX = static_cast<int>(cloud->width / 2.0);
int centerY = static_cast<int>(cloud->height / 2.0);
unsigned short* depth_pixel;
unsigned char* color_pixel;
float scale = 1.0f/1000.0f;
float focal_length = 525.0f;
float fl_const = 1.0f / focal_length;
depth_pixel = static_cast<unsigned short*>(depth_image->GetScalarPointer (depth_dims[0]-1,depth_dims[1]-1,0));
color_pixel = static_cast<unsigned char*> (rgb_image->GetScalarPointer (depth_dims[0]-1,depth_dims[1]-1,0));
for (size_t y=0; y<cloud->height; ++y)
{
for (size_t x=0; x<cloud->width; ++x, --depth_pixel, color_pixel-=3)
{
PointT new_point;
// uint8_t* p_i = &(cloud_blob->data[y * cloud_blob->row_step + x * cloud_blob->point_step]);
float depth = static_cast<float>(*depth_pixel) * scale;
if (depth == 0.0f)
{
new_point.x = new_point.y = new_point.z = std::numeric_limits<float>::quiet_NaN ();
}
else
{
new_point.x = (static_cast<float> (x) - centerX) * depth * fl_const;
new_point.y = (static_cast<float> (centerY) - y) * depth * fl_const; // vtk seems to start at the bottom left image corner
new_point.z = depth;
}
uint32_t rgb = static_cast<uint32_t>(color_pixel[0]) << 16 | static_cast<uint32_t>(color_pixel[1]) << 8 | static_cast<uint32_t>(color_pixel[2]);
new_point.rgb = *reinterpret_cast<float*> (&rgb);
cloud->points.push_back (new_point);
}
}
}
else
{
/// check if the provided pcd file contains normals
pcl::PCLPointCloud2 input_pointcloud2;
if (pcl::io::loadPCDFile (pcd_path, input_pointcloud2))
{
PCL_ERROR ("ERROR: Could not read input point cloud %s.\n", pcd_path.c_str ());
return (3);
}
pcl::fromPCLPointCloud2 (input_pointcloud2, *cloud);
if (!ignore_provided_normals)
{
if (hasField (input_pointcloud2,"normal_x"))
{
std::cout << "Using normals contained in file. Set --nonormals option to disable this.\n";
pcl::fromPCLPointCloud2 (input_pointcloud2, *input_normals);
has_normals = true;
}
}
}
std::cout << "Done making cloud!\n";
/// //
// //
// This is how to use supervoxels
// //
// //
// If the cloud is organized and we haven't disabled the transform we need to
// check that there are no negative z values, since we use log(z)
if (cloud->isOrganized () && !disable_transform)
{
for (PointCloudT::iterator cloud_itr = cloud->begin (); cloud_itr != cloud->end (); ++cloud_itr)
if (cloud_itr->z < 0)
{
PCL_ERROR ("Points found with negative Z values, this is not compatible with the single camera transform!\n");
PCL_ERROR ("Set the --NT option to disable the single camera transform!\n");
return 1;
}
std::cout <<"You have the single camera transform enabled - this should be used with point clouds captured from a single camera.\n";
std::cout <<"You can disable the transform with the --NT flag\n";
}
pcl::SupervoxelClustering<PointT> super (voxel_resolution, seed_resolution);
//If we manually disabled the transform then do so, otherwise the default
//behavior will take place (true for organized, false for unorganized)
if (disable_transform)
super.setUseSingleCameraTransform (false);
super.setInputCloud (cloud);
if (has_normals)
super.setNormalCloud (input_normals);
super.setColorImportance (color_importance);
super.setSpatialImportance (spatial_importance);
super.setNormalImportance (normal_importance);
std::map <uint32_t, pcl::Supervoxel<PointT>::Ptr > supervoxel_clusters;
std::cout << "Extracting supervoxels!\n";
super.extract (supervoxel_clusters);
std::cout << "Found " << supervoxel_clusters.size () << " Supervoxels!\n";
PointLCloudT::Ptr labeled_voxel_cloud = super.getLabeledVoxelCloud ();
PointCloudT::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud ();
PointNCloudT::Ptr sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters);
PointLCloudT::Ptr full_labeled_cloud = super.getLabeledCloud ();
std::cout << "Getting supervoxel adjacency\n";
std::multimap<uint32_t, uint32_t> label_adjacency;
super.getSupervoxelAdjacency (label_adjacency);
std::map <uint32_t, pcl::Supervoxel<PointT>::Ptr > refined_supervoxel_clusters;
std::cout << "Refining supervoxels \n";
super.refineSupervoxels (3, refined_supervoxel_clusters);
PointLCloudT::Ptr refined_labeled_voxel_cloud = super.getLabeledVoxelCloud ();
PointNCloudT::Ptr refined_sv_normal_cloud = super.makeSupervoxelNormalCloud (refined_supervoxel_clusters);
PointLCloudT::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();
// THESE ONLY MAKE SENSE FOR ORGANIZED CLOUDS
if (cloud->isOrganized ())
{
pcl::io::savePNGFile (out_label_path, *full_labeled_cloud, "label");
pcl::io::savePNGFile (refined_out_label_path, *refined_full_labeled_cloud, "label");
//Save RGB from labels
pcl::io::PointCloudImageExtractorFromLabelField<PointLT> pcie (pcl::io::PointCloudImageExtractorFromLabelField<PointLT>::COLORS_RGB_GLASBEY);
//We need to set this to account for NAN points in the organized cloud
pcie.setPaintNaNsWithBlack (true);
pcl::PCLImage image;
pcie.extract (*full_labeled_cloud, image);
pcl::io::savePNGFile (out_path, image);
pcie.extract (*refined_full_labeled_cloud, image);
pcl::io::savePNGFile (refined_out_path, image);
}
std::cout << "Constructing Boost Graph Library Adjacency List...\n";
typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, float> VoxelAdjacencyList;
VoxelAdjacencyList supervoxel_adjacency_list;
super.getSupervoxelAdjacencyList (supervoxel_adjacency_list);
std::cout << "Loading visualization...\n";
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->setBackgroundColor (0, 0, 0);
viewer->registerKeyboardCallback(keyboard_callback, 0);
bool refined_normal_shown = show_refined;
bool refined_sv_normal_shown = show_refined;
bool sv_added = false;
bool normals_added = false;
bool graph_added = false;
std::vector<std::string> poly_names;
std::cout << "Loading viewer...\n";
while (!viewer->wasStopped ())
{
if (show_supervoxels)
{
if (!viewer->updatePointCloud ((show_refined)?refined_labeled_voxel_cloud:labeled_voxel_cloud, "colored voxels"))
{
viewer->addPointCloud ((show_refined)?refined_labeled_voxel_cloud:labeled_voxel_cloud, "colored voxels");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3.0, "colored voxels");
}
}
else
{
viewer->removePointCloud ("colored voxels");
}
if (show_voxel_centroids)
{
if (!viewer->updatePointCloud (voxel_centroid_cloud, "voxel centroids"))
{
viewer->addPointCloud (voxel_centroid_cloud, "voxel centroids");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE,2.0, "voxel centroids");
}
}
else
{
viewer->removePointCloud ("voxel centroids");
}
if (show_supervoxel_normals)
{
if (refined_sv_normal_shown != show_refined || !sv_added)
{
viewer->removePointCloud ("supervoxel_normals");
viewer->addPointCloudNormals<PointNormal> ((show_refined)?refined_sv_normal_cloud:sv_normal_cloud,1,0.05f, "supervoxel_normals");
sv_added = true;
}
refined_sv_normal_shown = show_refined;
}
else if (!show_supervoxel_normals)
{
viewer->removePointCloud ("supervoxel_normals");
}
if (show_normals)
{
std::map <uint32_t, pcl::Supervoxel<PointT>::Ptr>::iterator sv_itr,sv_itr_end;
sv_itr = ((show_refined)?refined_supervoxel_clusters.begin ():supervoxel_clusters.begin ());
sv_itr_end = ((show_refined)?refined_supervoxel_clusters.end ():supervoxel_clusters.end ());
for (; sv_itr != sv_itr_end; ++sv_itr)
{
std::stringstream ss;
ss << sv_itr->first <<"_normal";
if (refined_normal_shown != show_refined || !normals_added)
{
viewer->removePointCloud (ss.str ());
viewer->addPointCloudNormals<PointT,Normal> ((sv_itr->second)->voxels_,(sv_itr->second)->normals_,10,0.02f,ss.str ());
// std::cout << (sv_itr->second)->normals_->points[0]<<"\n";
}
}
normals_added = true;
refined_normal_shown = show_refined;
}
else if (!show_normals)
{
std::map <uint32_t, pcl::Supervoxel<PointT>::Ptr>::iterator sv_itr,sv_itr_end;
sv_itr = ((show_refined)?refined_supervoxel_clusters.begin ():supervoxel_clusters.begin ());
sv_itr_end = ((show_refined)?refined_supervoxel_clusters.end ():supervoxel_clusters.end ());
for (; sv_itr != sv_itr_end; ++sv_itr)
{
std::stringstream ss;
ss << sv_itr->first << "_normal";
viewer->removePointCloud (ss.str ());
}
}
if (show_graph && !graph_added)
{
poly_names.clear ();
std::multimap<uint32_t,uint32_t>::iterator label_itr = label_adjacency.begin ();
for ( ; label_itr != label_adjacency.end (); )
{
//First get the label
uint32_t supervoxel_label = label_itr->first;
//Now get the supervoxel corresponding to the label
pcl::Supervoxel<PointT>::Ptr supervoxel = supervoxel_clusters.at (supervoxel_label);
//Now we need to iterate through the adjacent supervoxels and make a point cloud of them
PointCloudT adjacent_supervoxel_centers;
std::multimap<uint32_t,uint32_t>::iterator adjacent_itr = label_adjacency.equal_range (supervoxel_label).first;
for ( ; adjacent_itr!=label_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)
{
pcl::Supervoxel<PointT>::Ptr neighbor_supervoxel = supervoxel_clusters.at (adjacent_itr->second);
adjacent_supervoxel_centers.push_back (neighbor_supervoxel->centroid_);
}
//Now we make a name for this polygon
std::stringstream ss;
ss << "supervoxel_" << supervoxel_label;
poly_names.push_back (ss.str ());
addSupervoxelConnectionsToViewer (supervoxel->centroid_, adjacent_supervoxel_centers, ss.str (), viewer);
//Move iterator forward to next label
label_itr = label_adjacency.upper_bound (supervoxel_label);
}
graph_added = true;
}
else if (!show_graph && graph_added)
{
for (std::vector<std::string>::iterator name_itr = poly_names.begin (); name_itr != poly_names.end (); ++name_itr)
{
viewer->removeShape (*name_itr);
}
graph_added = false;
}
if (show_help)
{
viewer->removeShape ("help_text");
printText (viewer);
}
else
{
removeText (viewer);
if (!viewer->updateText("Press h to show help", 5, 10, 12, 1.0, 1.0, 1.0,"help_text") )
viewer->addText("Press h to show help", 5, 10, 12, 1.0, 1.0, 1.0,"help_text");
}
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
return (0);
}
void
addSupervoxelConnectionsToViewer (PointT &supervoxel_center,
PointCloudT &adjacent_supervoxel_centers,
std::string supervoxel_name,
boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)
{
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New ();
vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
//Iterate through all adjacent points, and add a center point to adjacent point pair
PointCloudT::iterator adjacent_itr = adjacent_supervoxel_centers.begin ();
for ( ; adjacent_itr != adjacent_supervoxel_centers.end (); ++adjacent_itr)
{
points->InsertNextPoint (supervoxel_center.data);
points->InsertNextPoint (adjacent_itr->data);
}
// Create a polydata to store everything in
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
// Add the points to the dataset
polyData->SetPoints (points);
polyLine->GetPointIds ()->SetNumberOfIds(points->GetNumberOfPoints ());
for(unsigned int i = 0; i < points->GetNumberOfPoints (); i++)
polyLine->GetPointIds ()->SetId (i,i);
cells->InsertNextCell (polyLine);
// Add the lines to the dataset
polyData->SetLines (cells);
viewer->addModelFromPolyData (polyData,supervoxel_name);
}
void printText (boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer)
{
std::string on_str = "on";
std::string off_str = "off";
if (!viewer->updateText ("Press (1-n) to show different elements (h) to disable this", 5, 72, 12, 1.0, 1.0, 1.0,"hud_text"))
viewer->addText ("Press 1-n to show different elements", 5, 72, 12, 1.0, 1.0, 1.0,"hud_text");
std::string temp = "(1) Voxels currently " + ((show_voxel_centroids)?on_str:off_str);
if (!viewer->updateText (temp, 5, 60, 10, 1.0, 1.0, 1.0, "voxel_text"))
viewer->addText (temp, 5, 60, 10, 1.0, 1.0, 1.0, "voxel_text");
temp = "(2) Supervoxels currently "+ ((show_supervoxels)?on_str:off_str);
if (!viewer->updateText (temp, 5, 50, 10, 1.0, 1.0, 1.0, "supervoxel_text") )
viewer->addText (temp, 5, 50, 10, 1.0, 1.0, 1.0, "supervoxel_text");
temp = "(3) Graph currently "+ ((show_graph)?on_str:off_str);
if (!viewer->updateText (temp, 5, 40, 10, 1.0, 1.0, 1.0, "graph_text") )
viewer->addText (temp, 5, 40, 10, 1.0, 1.0, 1.0, "graph_text");
temp = "(4) Voxel Normals currently "+ ((show_normals)?on_str:off_str);
if (!viewer->updateText (temp, 5, 30, 10, 1.0, 1.0, 1.0, "voxel_normals_text") )
viewer->addText (temp, 5, 30, 10, 1.0, 1.0, 1.0, "voxel_normals_text");
temp = "(5) Supervoxel Normals currently "+ ((show_supervoxel_normals)?on_str:off_str);
if (!viewer->updateText (temp, 5, 20, 10, 1.0, 1.0, 1.0, "supervoxel_normals_text") )
viewer->addText (temp, 5, 20, 10, 1.0, 1.0, 1.0, "supervoxel_normals_text");
temp = "(0) Showing "+ std::string((show_refined)?"":"UN-") + "refined supervoxels and normals";
if (!viewer->updateText (temp, 5, 10, 10, 1.0, 1.0, 1.0, "refined_text") )
viewer->addText (temp, 5, 10, 10, 1.0, 1.0, 1.0, "refined_text");
}
void removeText (boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer)
{
viewer->removeShape ("hud_text");
viewer->removeShape ("voxel_text");
viewer->removeShape ("supervoxel_text");
viewer->removeShape ("graph_text");
viewer->removeShape ("voxel_normals_text");
viewer->removeShape ("supervoxel_normals_text");
viewer->removeShape ("refined_text");
}
bool
hasField (const pcl::PCLPointCloud2 &pc2, const std::string field_name)
{
for (size_t cf = 0; cf < pc2.fields.size (); ++cf)
if (pc2.fields[cf].name == field_name)
return true;
return false;
}
来源：PCL官方示例