PCL点云网格化
void main()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if(pcl::io::loadPCDFile("C:\\Users\\wangyang\\Desktop\\LXD-Part.pcd", *cloud) == -1)
{
PCL_ERROR("Could not read pcd file!\n") ;
return;
}
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n ;//法线估计对象
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);//存储估计的法线
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
tree->setInputCloud(cloud) ;
n.setInputCloud(cloud) ;
n.setSearchMethod(tree) ;
n.setKSearch(20);
n.compute(*normals) ;
pcl::concatenateFields(*cloud, *normals , *cloud_with_normals) ;
pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
tree2->setInputCloud(cloud_with_normals) ;
pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3 ;
pcl::PolygonMesh mesh ; //存储最终三角化的网格模型
gp3.setSearchRadius(2);//这个参数需要更改
gp3.setMu(2.5);//设置样本点搜索其邻近点的最远距离为2.5
gp3.setMaximumNearestNeighbors(100);//设置样本点搜索的邻域个数为100
gp3.setMaximumSurfaceAngle(M_PI/3);//设置某点法线方向偏离样本点法线方向的最大角度为45度
gp3.setMinimumAngle(M_PI/180);//设置三角化后得到的三角形内角最小角度为10度
gp3.setMaximumAngle(2*M_PI/3);
gp3.setNormalConsistency(false);//设置该参数保证法线朝向一致
gp3.setInputCloud(cloud_with_normals) ;//设置输入点云为有向点云
gp3.setSearchMethod(tree2) ;//设置搜素方式为tree2
gp3.reconstruct(mesh) ;//重建提取三角化
std::vector<int> parts = gp3.getPartIDs() ;
std::vector<int> status = gp3.getPointStates() ;
fstream fs ;
fs.open("partsID.txt", ios::out);
if(!fs)
{
return;
}
fs<<"点云数量为:"<<parts.size()<<"\n";
for(int i = 0; i < parts.size() ; i++)
{
if(parts[i] != 0)
{
fs<<parts[i]<<"\n";
}
}
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3Dviewer")) ;
viewer->setBackgroundColor(0, 0, 0);
viewer->addPolygonMesh(mesh, "W");
viewer->initCameraParameters();
while(!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(50000));
}
return;
}