源代码
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/visualization/pcl_visualizer.h>int main()
{// Load input file into a PointCloud<T> with an appropriate typepcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);pcl::PCLPointCloud2 cloud_blob; pcl::io::loadPCDFile("/home/oliver/pcd模型/rabbit.pcd", cloud_blob);pcl::fromPCLPointCloud2(cloud_blob, *cloud); //* the data should be available in cloud //pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);tree->setInputCloud(cloud);n.setInputCloud(cloud);n.setSearchMethod(tree);n.setKSearch(30);n.compute(*normals); //* normals should not contain the point normals + surface curvatures // Concatenate the XYZ and normal fields*pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);pcl::concatenateFields(*cloud, *normals, *cloud_with_normals); //* cloud_with_normals = cloud + normals // Create search tree*pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);tree2->setInputCloud(cloud_with_normals); // Initialize objectspcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;pcl::PolygonMesh triangles; // Set the maximum distance between connected points (maximum edge length)gp3.setSearchRadius(0.025); // Set typical values for the parametersgp3.setMu(2.5);gp3.setMaximumNearestNeighbors(100);gp3.setMaximumSurfaceAngle(M_PI / 4); // 45 degreesgp3.setMinimumAngle(M_PI / 18); // 10 degreesgp3.setMaximumAngle(2 * M_PI / 3); // 120 degreesgp3.setNormalConsistency(false); // Get resultgp3.setInputCloud(cloud_with_normals);gp3.setSearchMethod(tree2);gp3.reconstruct(triangles); // Additional vertex informationboost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));viewer->setBackgroundColor(0, 0, 0);viewer->addPolygonMesh(triangles, "triangles");viewer->addPolylineFromPolygonMesh(triangles);//viewer->addCoordinateSystem(1.0);viewer->initCameraParameters();while (!viewer->wasStopped()){viewer->spinOnce(100);boost::this_thread::sleep(boost::posix_time::microseconds(100000));}// Finishreturn (0);
}
实验结果
