点云法线计算及可视化

点云素材：bunny.txt

#include <pcl/features/normal_3d.h>
#include <pcl/visualization/pcl_visualizer.h>
 
void CreateCloudFromTxt(const std::string& file_path,
                        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud) {
    std::ifstream fin(file_path.c_str());
    std::string line;
    pcl::PointXYZ point;
    while (getline(fin, line)) {
        std::stringstream ss(line);
        ss >> point.x;
        ss >> point.y;
        ss >> point.z;
        cloud->push_back(point);
    }
    fin.close();
}
 
void EstimateNormal(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
                    pcl::PointCloud<pcl::Normal>::Ptr normals) {
  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_est;
  normal_est.setInputCloud(cloud);
  // normal_est.setRadiusSearch(0.05); // 对于每一个点都用半径为5cm的近邻搜索方式
  normal_est.setKSearch(10); // 点云法向计算时，需要搜索的近邻点数目
  pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree(new pcl::search::KdTree<pcl::PointXYZ>);
  normal_est.setSearchMethod(kdtree); // 建立kdtree来进行近邻点集搜索
  normal_est.compute(*normals);
}
 
void visualization(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
                   pcl::PointCloud<pcl::Normal>::Ptr normals) {
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("Normals"));
  viewer->setBackgroundColor(0, 0, 0);
 
  //按照z值进行渲染点的颜色
	pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "x");
  // 添加需要显示的点云数据
  viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "bunny cloud");
  // viewer->addPointCloud<pcl::PointXYZ>(cloud, "bunny cloud");
 
  // 设置点显示大小
  viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "bunny cloud");
 
  // 添加需要显示的点云法向。cloud为原始点云模型，normal为法向信息，1表示需要显示法向的点云间隔，即每1个点显示一次法向，0.003表示法向长度。
  // viewer->addPointCloudNormals<pcl::PointXYZ, pcl::Normal>(cloud, normals, 1, 0.003, "normals");
 
  // Concatenate the XYZ and normal fields* 将点云数据与法向信息拼接
  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>); // pcl::PointNormal, pcl::PointXYZINormal, pcl::PointXYZRGBNormal
  pcl::concatenateFields(*cloud, *normals, *cloud_with_normals);
  viewer->addPointCloudNormals<pcl::PointNormal>(cloud_with_normals, 1, 0.003, "normals");
 
  while (!viewer->wasStopped()) {
    viewer->spinOnce(100);
    boost::this_thread::sleep(boost::posix_time::microseconds(100000));
  }
}
 
int main(int argc,char**argv) {
  // 加载点云模型
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  CreateCloudFromTxt("/tmp/bunny.txt", cloud);
 
  // 计算法线
  pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
  EstimateNormal(cloud, normals);
  std::cout << "cloud size: " << cloud->size() << std::endl;
  std::cout << "normals size: " << normals->size() << std::endl;
 
  for (size_t i = 0; i < 5 && i < normals->size(); ++i) {
    std::cout << "[" << normals->points.at(i).normal_x << ", " // 法线各轴分量
                     << normals->points.at(i).normal_y << ", "
                     << normals->points.at(i).normal_z << ", "
                     << normals->points.at(i).curvature << "]" << std::endl; // 曲率
  }
 
  // 可视化点云及其法线
  visualization(cloud, normals);
 
  return 0;
}

输出：

 

可视化结果：