PCL 交互式ICP算法

最新推荐文章于 2024-09-07 10:28:40 发布

Almost点云

最新推荐文章于 2024-09-07 10:28:40 发布

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分类专栏：点云学习文章标签：算法 c++ 开发语言 3d 计算机视觉

本文链接：https://blog.csdn.net/m0_51204289/article/details/126913634

版权

本文介绍了如何在PCL库中应用交互式迭代最近点算法，通过实例代码展示了该算法的使用过程。

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一、概述

PCL中交互式迭代最近点算法的简单使用案例

二、代码

interactive_icp.cpp

#include <iostream>
#include <string>

#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/time.h>   // TicToc

typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

bool next_iteration = false;

void
print4x4Matrix (const Eigen::Matrix4d & matrix)
{
   
  printf ("Rotation matrix :\n");
  printf ("    | %6.3f %6.3f %6.3f | \n", matrix (0, 0), matrix (0, 1), matrix (0, 2));
  printf ("R = | %6.3f %6.3f %6.3f | \n", matrix (1, 0), matrix (1, 1), matrix (1, 2));
  printf ("    | %6.3f %6.3f %6.3f | \n", matrix (2, 0), matrix (2, 1), matrix (2, 2));
  printf ("Translation vector :\n");
  printf ("t = < %6.3f, %6.3f, %6.3f >\n\n", matrix (0, 3), matrix (1, 3), matrix (2, 3));
}

void
keyboardEventOccurred (const pcl::visualization::KeyboardEvent& event,
                       void*)
{
   
  if (event.getKeySym () == "space" && event.keyDown ())
    next_iteration = true;
}

int
main (int argc,
      char* argv[])
{
   
  // The point clouds we will be using
  PointCloudT::Ptr cloud_in (new PointCloudT);