PCL库点云曲面拟合代码

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/visualization/pcl_visualizer.h>


int main( int argc, char** argv )
{
    // Load input file into a PointCloud<T> with an appropriate type
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PCLPointCloud2 cloud_blob; pcl::io::loadPCDFile(argv[1], cloud_blob);
    pcl::fromPCLPointCloud2(cloud_blob, *cloud); //* the data should be available in cloud //
    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
    tree->setInputCloud(cloud);
    n.setInputCloud(cloud);
    n.setSearchMethod(tree);
    n.setKSearch(30);
    n.compute(*normals); //* normals should not contain the point normals + surface curvatures // Concatenate the XYZ and normal fields*
    pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
    pcl::concatenateFields(*cloud, *normals, *cloud_with_normals); //* cloud_with_normals = cloud + normals // Create search tree*
    pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
    tree2->setInputCloud(cloud_with_normals); // Initialize objects
    pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
    pcl::PolygonMesh triangles; // Set the maximum distance between connected points (maximum edge length)
    gp3.setSearchRadius(0.025); // Set typical values for the parameters
    gp3.setMu(2.5);
    gp3.setMaximumNearestNeighbors(100);
    gp3.setMaximumSurfaceAngle(M_PI / 4); // 45 degrees
    gp3.setMinimumAngle(M_PI / 18); // 10 degrees
    gp3.setMaximumAngle(2 * M_PI / 3); // 120 degrees
    gp3.setNormalConsistency(false); // Get result
    gp3.setInputCloud(cloud_with_normals);
    gp3.setSearchMethod(tree2);
    gp3.reconstruct(triangles); // Additional vertex information
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    viewer->setBackgroundColor(0, 0, 0);
    viewer->addPolygonMesh(triangles, "triangles");
    viewer->addPolylineFromPolygonMesh(triangles);
    //viewer->addCoordinateSystem(1.0);
    viewer->initCameraParameters();
    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }

    // Finish

    return (0);
}

cmake_minimum_required(VERSION 2.6)
project(mapping)

find_package( PCL 1.7 )
include_directories( ${PCL_INCLUDE_DIRS} )
add_definitions( ${PCL_DEFINITIONS} )

add_executable(mapping main.cpp)

install(TARGETS mapping RUNTIME DESTINATION bin)

target_link_libraries( mapping ${PCL_LIBRARIES} )