点云ICP配准 并将其可视化
代码
#define BOOST_TYPEOF_EMULATION
#define _CRT_SECURE_NO_WARNINGS
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/registration/icp.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>//icp头文件
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloud;
void visualize_pcd(PointCloud::Ptr pcd_src, PointCloud::Ptr pcd_tgt, PointCloud::Ptr pcd_final)
{
pcl::visualization::PCLVisualizer viewer("registration Viewer");
//原始点云绿色
pcl::visualization::PointCloudColorHandlerCustom<PointT> src_h(pcd_src, 0, 255, 0);
//目标点云红色
pcl::visualization::PointCloudColorHandlerCustom<PointT> tgt_h(pcd_tgt, 255, 0, 0);
//匹配好的点云蓝色
pcl::visualization::PointCloudColorHandlerCustom<PointT> final_h(pcd_final, 0, 0, 255);
viewer.setBackgroundColor(255, 255,255);
viewer.addPointCloud(pcd_src, src_h, "source cloud");
viewer.addPointCloud(pcd_tgt, tgt_h, "target cloud");
viewer.addPointCloud(pcd_final, final_h, "result cloud");
while (!viewer.wasStopped())
{
viewer.spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}
int main(int argc, char** argv)
{
pcl::PointCloud<PointT>::Ptr cloud_source(new pcl::PointCloud<PointT>);
pcl::PointCloud<PointT>::Ptr cloud_target(new pcl::PointCloud<PointT>);
pcl::io::loadPCDFile("C:\\Users\\yue\\Desktop\\groundtruth.pcd", *cloud_target);
pcl::io::loadPCDFile("C:\\Users\\yue\\Desktop\\KeyFrameTrajectory.pcd", *cloud_source);
pcl::IterativeClosestPoint<PointT, PointT> icp;
icp.setInputCloud(cloud_source);
icp.setInputTarget(cloud_target);
PointCloud::Ptr Final(new PointCloud);
icp.align(*Final);
std::cout << "has converged:" << icp.hasConverged() << " score: " <<icp.getFitnessScore() << std::endl;
//输出刚体变换矩阵信息
std::cout << icp.getFinalTransformation() << std::endl;
//可视化
visualize_pcd(cloud_source, cloud_target, Final);
//保存变换后的点云 pcd文件
pcl::io::savePCDFileASCII("C:\\Users\\yue\\Desktop\\test_pcd.pcd", *Final);
return (0);
}
结果图