算法原理:
算法流程:
代码:
#include <iostream>
#include <vector>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/passthrough.h>
#include <pcl/segmentation/region_growing.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
if ( pcl::io::loadPCDFile <pcl::PointXYZ> ("region_growing_tutorial.pcd", *cloud) == -1)
{
std::cout << "Cloud reading failed." << std::endl;
return (-1);
}
pcl::search::Search<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);