PCL-FPFH描述符

PCL-描述子-FPFH

FPFH描述子建立

1.原始点云

变量声明，为了对场景和模型做匹配，设计了1，2两个变量。

	pcl::PointCloud<PointType>				cloud1, cloud2;
	pcl::PointCloud<NormalType>				cloud1_normals, cloud2_normals;
	pcl::PointCloud<PointType>				cloud1_keypoints, cloud2_keypoints;
	pcl::PointCloud<pcl::FPFHSignature33>   cloud1_fpfh, cloud2_fpfh;

2.提取关键点

体素和均匀采样速度较快

	void compute_filters_voxel_grid(float leaf_size)
	{
		pcl::VoxelGrid<PointType> voxel_grid;
		voxel_grid.setLeafSize(leaf_size, leaf_size, leaf_size);

		voxel_grid.setInputCloud(cloud1.makeShared());
		voxel_grid.filter(cloud1_keypoints);

		voxel_grid.setInputCloud(cloud2.makeShared());
		voxel_grid.filter(cloud2_keypoints);
	}
	void compute_filters_uniform_sample(float leaf_size)
	{
		pcl::UniformSampling<PointType> filter;
		filter.setRadiusSearch(leaf_size);

		filter.setInputCloud(cloud1.makeShared());
		filter.filter(cloud1_keypoints);

		filter.setInputCloud(cloud2.makeShared());
		filter.filter(cloud2_keypoints);
	}

3.法线建立

对关键点提取法线

	template <typename T>
	void compute_normals(float radius, T cloud1, T cloud2)
	{
		// Estimate the normals.
		pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> normalEstimation;
		normalEstimation.setRadiusSearch(radius);
		normalEstimation.setNumberOfThreads(12);
		pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree(new pcl::search::KdTree<pcl::PointXYZ>);
		normalEstimation.setSearchMethod(kdtree);

		normalEstimation.setInputCloud(cloud1.makeShared());
		normalEstimation.compute(cloud1_normals);

		normalEstimation.setInputCloud(cloud2.makeShared());
		normalEstimation.compute(cloud2_normals);
	}

4.FPFH描述子建立

	void calculate_FPFH(float radius)
	{
		pcl::FPFHEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> fpfh;
		fpfh.setRadiusSearch(radius);
		fpfh.setNumberOfThreads(12);

		pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree(new pcl::search::KdTree<pcl::PointXYZ>);
		fpfh.setSearchMethod(kdtree);

		fpfh.setInputCloud(cloud1_keypoints.makeShared());
		//fpfh.setSearchSurface(cloud1.makeShared());
		fpfh.setInputNormals(cloud1_normals.makeShared());
		fpfh.compute(cloud1_fpfh);

		fpfh.setInputCloud(cloud2_keypoints.makeShared());
		//fpfh.setSearchSurface(cloud2.makeShared());
		fpfh.setInputNormals(cloud2_normals.makeShared());
		fpfh.compute(cloud2_fpfh);
	}

如上是FPFH描述子核心代码，如需其他代码，可留言。