标签：info file 剖分 pcl radius PCL print cloud gp3

介绍：点云贪心三角化
输入pcd文件，输出vtk文件。
主要就是一下两个参数：

设置用于确定用于三角测量的最近邻的球面半径
gpt.setSearchRadius (radius);

设置最近邻距离的乘法器，得到每个点的最终搜索半径(这将使算法适应云中不同的点密度)。
gpt.setMu (mu);

代码如下：

#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/surface/gp3.h>

using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;

double default_mu = 0.0;
double default_radius = 0.0;

void
printHelp (int, char **argv)
{
  print_error ("Syntax is: %s input.pcd output.vtk <options>\n", argv[0]);
  print_info ("  where options are:\n");
  print_info ("                     -radius X = use a radius of Xm around each point to determine the neighborhood (default: "); 
  print_value ("%f", default_radius); print_info (")\n");
  print_info ("                     -mu X     = set the multipler of the nearest neighbor distance to obtain the final search radius (default: "); 
  print_value ("%f", default_mu); print_info (")\n");
}

bool
loadCloud (const std::string &filename, PointCloud<PointNormal> &cloud)
{
  TicToc tt;
  print_highlight ("Loading "); print_value ("%s ", filename.c_str ());

  tt.tic ();
  if (loadPCDFile<PointNormal> (filename, cloud) < 0)
    return (false);
  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
  print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());

  return (true);
}

void
compute (const PointCloud<PointNormal>::Ptr &input, pcl::PolygonMesh &output,
         double mu, double radius)
{
  // Estimate
  TicToc tt;
  tt.tic ();
  
  print_highlight (stderr, "Computing ");

  PointCloud<PointNormal>::Ptr cloud (new PointCloud<PointNormal> ());
  for (size_t i = 0; i < input->size (); ++i)
    if (pcl_isfinite (input->points[i].x))
      cloud->push_back (input->points[i]);

  cloud->width = static_cast<uint32_t> (cloud->size ());
  cloud->height = 1;
  cloud->is_dense = true;

  GreedyProjectionTriangulation<PointNormal> gpt;
  gpt.setSearchMethod (pcl::search::KdTree<pcl::PointNormal>::Ptr (new pcl::search::KdTree<pcl::PointNormal>));
  gpt.setInputCloud (cloud);
  gpt.setSearchRadius (radius);
  gpt.setMu (mu);

  gpt.reconstruct (output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", output.polygons.size ()); print_info (" polygons]\n");
}

void
saveCloud (const std::string &filename, const pcl::PolygonMesh &output)
{
  TicToc tt;
  tt.tic ();

  print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
  saveVTKFile (filename, output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", output.polygons.size ()); print_info (" polygons]\n");
}

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Perform surface triangulation using pcl::GreedyProjectionTriangulation. For more information, use: %s -h\n", argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .pcd files
  std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  if (pcd_file_indices.size () != 1)
  {
    print_error ("Need one input PCD file to continue.\n");
    return (-1);
  }
  std::vector<int> vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");
  if (vtk_file_indices.size () != 1)
  {
    print_error ("Need one output VTK file to continue.\n");
    return (-1);
  }

  // Command line parsing
  double mu = default_mu;
  double radius = default_radius;
  parse_argument (argc, argv, "-mu", mu);
  parse_argument (argc, argv, "-radius", radius);

  // Load the first file
  PointCloud<PointNormal>::Ptr cloud (new PointCloud<PointNormal>);
  if (!loadCloud (argv[pcd_file_indices[0]], *cloud)) 
    return (-1);

  // Perform the surface triangulation
  pcl::PolygonMesh output;
  compute (cloud, output, mu, radius);

  // Save into the second file
  saveCloud (argv[vtk_file_indices[0]], output);
}

来源：PCL官方示例

标签：info,file,剖分,pcl,radius,PCL,print,cloud,gp3
来源： https://blog.csdn.net/com1098247427/article/details/120696657

本站声明： 1. iCode9 技术分享网（下文简称本站）提供的所有内容，仅供技术学习、探讨和分享；
2. 关于本站的所有留言、评论、转载及引用，纯属内容发起人的个人观点，与本站观点和立场无关；
3. 关于本站的所有言论和文字，纯属内容发起人的个人观点，与本站观点和立场无关；
4. 本站文章均是网友提供，不完全保证技术分享内容的完整性、准确性、时效性、风险性和版权归属；如您发现该文章侵犯了您的权益，可联系我们第一时间进行删除；
5. 本站为非盈利性的个人网站，所有内容不会用来进行牟利，也不会利用任何形式的广告来间接获益，纯粹是为了广大技术爱好者提供技术内容和技术思想的分享性交流网站。