3 利用icp算法拼接俩个初始位置相差不大的点云

How to use iterative closest point

http://pointclouds.org/documentation/tutorials/iterative_closest_point.php#iterative-closest-point

如何拼接点云

不知道icp要求具体有多高，这里是先构建点云A（就几个点），然后B在A的基础上加一点扰动，然后利用icp算法计算A到B的刚体变换矩阵。

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>

int main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);

    // Fill in the CloudIn data
    cloud_in->width = 5;
    cloud_in->height = 1;
    cloud_in->is_dense = false;
    cloud_in->points.resize(cloud_in->width * cloud_in->height);
    //构建点云A
    for (size_t i = 0; i < cloud_in->points.size(); ++i)
    {
        cloud_in->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud_in->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud_in->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
    }
    std::cout << "Saved " << cloud_in->points.size() << " data points to input:"
        << std::endl;
    for (size_t i = 0; i < cloud_in->points.size(); ++i) std::cout << "    " <<
        cloud_in->points[i].x << " " << cloud_in->points[i].y << " " <<
        cloud_in->points[i].z << std::endl;
    //点云B在A的基础上稍作改动
    *cloud_out = *cloud_in;
    std::cout << "size:" << cloud_out->points.size() << std::endl;
    //准确来说只是在x周上动一动
    for (size_t i = 0; i < cloud_in->points.size(); ++i)
        cloud_out->points[i].x = cloud_in->points[i].x + 0.7f;
    std::cout << "Transformed " << cloud_in->points.size() << " data points:"
        << std::endl;
    for (size_t i = 0; i < cloud_out->points.size(); ++i)
        std::cout << "    " << cloud_out->points[i].x << " " <<
        cloud_out->points[i].y << " " << cloud_out->points[i].z << std::endl;
    //构建icp
    pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
    //将A 和 B喂入 icp
    icp.setInputCloud(cloud_in);
    icp.setInputTarget(cloud_out);
    //这个Final 有啥用？
    pcl::PointCloud<pcl::PointXYZ> Final;
    icp.align(Final);
    //如果点云B 只是由 A进行一些简单的刚体变换得来的，icp.hasConverged()值1，如果存在形变则不为1
    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;

    return (0);
}