PCL：点云特征-VFH示例

#include<pcl/visualization/pcl_plotter.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/parse.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/normal_space.h>
#include <pcl/common/eigen.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/vfh.h>
#include <pcl/visualization/histogram_visualizer.h>
#include<iostream>
#pragma comment(lib,"User32.lib")
#pragma comment(lib, "gdi32.lib")
using namespace std;
using namespace pcl::visualization;
using namespace pcl::console;

int
main(int argc, char * argv[])
{
	/*if (argc < 2)
	{
		std::cout << ".exe source.pcd -r 0.005 -ds 5" << endl;
		return 0;
	}*/
	float voxel_re = 0.005, ds_N = 5;
	parse_argument(argc, argv, "-r", voxel_re);// 设置点云分辨率
	parse_argument(argc, argv, "-ds", ds_N);// 设置半径

											//调节下采样的分辨率以保持数据处理的速度。
											// 下采样 
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_src(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("table_scene_lms400_downsampled.pcd", *cloud_src);
	std::vector<int> indices1;
	pcl::removeNaNFromPointCloud(*cloud_src, *cloud_src, indices1);
	pcl::PointCloud<pcl::PointXYZ>::Ptr ds_src(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::VoxelGrid<pcl::PointXYZ> grid;
	grid.setLeafSize(voxel_re, voxel_re, voxel_re);
	grid.setInputCloud(cloud_src);
	grid.filter(*ds_src);

	//计算法向量
	pcl::PointCloud<pcl::Normal>::Ptr norm_src(new pcl::PointCloud<pcl::Normal>);
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree_src(new pcl::search::KdTree<pcl::PointXYZ>());
	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
	PCL_INFO("Normal Estimation - Source\n");
	ne.setInputCloud(ds_src);
	ne.setSearchSurface(cloud_src);
	ne.setSearchMethod(tree_src);
	ne.setRadiusSearch(ds_N * 2 * voxel_re);
	ne.compute(*norm_src);

	// 提取关键点
	pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_src(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_tgt(new pcl::PointCloud<pcl::PointXYZ>);
	grid.setLeafSize(ds_N*voxel_re, ds_N*voxel_re, ds_N*voxel_re);
	grid.setInputCloud(ds_src);
	grid.filter(*keypoints_src);

	//Feature-Descriptor 
	PCL_INFO("VFH - Feature Descriptor\n");
	//VFH	
	//VFH Source 
	pcl::VFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308> vfh_est_src;
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree_vfh_src(new pcl::search::KdTree<pcl::PointXYZ>);

	vfh_est_src.setSearchSurface(ds_src);//输入完整点云数据
	vfh_est_src.setInputCloud(keypoints_src); // 输入关键点
	vfh_est_src.setInputNormals(norm_src);
	vfh_est_src.setRadiusSearch(2 * ds_N*voxel_re);
	vfh_est_src.setSearchMethod(tree_vfh_src);
	pcl::PointCloud<pcl::VFHSignature308>::Ptr vfh_src(new pcl::PointCloud<pcl::VFHSignature308>);
	vfh_est_src.compute(*vfh_src);

	//定义绘图器
	PCLPlotter *plotter = new PCLPlotter("My Plotter");
	//设置特性
	plotter->setShowLegend(true);
	std::cout << pcl::getFieldsList<pcl::VFHSignature308>(*vfh_src);

	//显示
	plotter->addFeatureHistogram<pcl::VFHSignature308>(*vfh_src, "vfh", 0, "vfh");
	plotter->setWindowSize(800, 600);
	plotter->spinOnce(30000);

	plotter->clearPlots();
	system("pause");
	return 0;
}