pcl 画法线

#include <pcl/io/pcd_io.h>
#include <pcl/features/integral_image_normal.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
#include <fstream>
int
main(int argc, char** argv)
{
	// 点云数据对象
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	// 法线对象
	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
	argv[1] = "test_pcd.pcd";
	ifstream file("result2.txt");
	float x, y, z;
	while (file){
		file >> x >> y >> z;

	}
	// 读取文件li
	if (pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud) != 0)
	{
		return -1;
	}

	// 法线估计对象
	pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> normalEstimation;
	normalEstimation.setInputCloud(cloud);
	// 法线估计方法: COVARIANCE_MATRIX, AVERAGE_DEPTH_CHANGE, SIMPLE_3D_GRADIENT.

	normalEstimation.setNormalEstimationMethod(normalEstimation.AVERAGE_3D_GRADIENT);
	//设置深度变化的阀值
	normalEstimation.setMaxDepthChangeFactor(0.02f);
	// 设置计算法线的区域
	normalEstimation.setNormalSmoothingSize(10.0f);

	// 计算
	normalEstimation.compute(*normals);

	// 可视化
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Normals"));
	viewer->addPointCloud<pcl::PointXYZ>(cloud, "cloud");

	viewer->addPointCloudNormals<pcl::PointXYZ, pcl::Normal>(cloud, normals, 20, 0.03, "normals");
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
}