GICP代码

#include 
#include 
#include 
#include   
#include 
#include 
#include    // 利用控制台计算时间
​
using namespace std;
​
int
main()
{
​
    pcl::console::TicToc time;
    // -----------------加载点云数据---------------------------
    pcl::PointCloud<pcl::PointXYZ>::Ptr target(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile<pcl::PointXYZ>("30m1A.pcd", *target);
    pcl::PointCloud<pcl::PointXYZ>::Ptr source(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile<pcl::PointXYZ>("30m2A.pcd", *source);
    cout << "读取源点云个数：" << source->points.size() << endl;
    cout << "读取目标点云个数：" << target->points.size() << endl;
    time.tic();
    //-----------------初始化GICP对象-------------------------
    pcl::GeneralizedIterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> gicp; 
    //-----------------KD树加速搜索---------------------------
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree1(new pcl::search::KdTree<pcl::PointXYZ>);
    tree1->setInputCloud(source);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree2(new pcl::search::KdTree<pcl::PointXYZ>);
    tree2->setInputCloud(target);
    gicp.setSearchMethodSource(tree1);
    gicp.setSearchMethodTarget(tree2);
    //-----------------设置GICP相关参数-----------------------
    gicp.setInputSource(source);  //源点云
    gicp.setInputTarget(target);  //目标点云
    gicp.setMaxCorrespondenceDistance(100); //设置对应点对之间的最大距离
    gicp.setTransformationEpsilon(1e-10);   //为终止条件设置最小转换差异
     /* gicp.setSourceCovariances(source_covariances);
    gicp.setTargetCovariances(target_covariances);*/
    gicp.setEuclideanFitnessEpsilon(0.001);  //设置收敛条件是均方误差和小于阈值， 停止迭代
    gicp.setMaximumIterations(35); //最大迭代次数  
    //gicp.setUseReciprocalCorrespondences(true);//使用相互对应关系
    // 计算需要的刚体变换以便将输入的源点云匹配到目标点云
    pcl::PointCloud<pcl::PointXYZ>::Ptr icp_cloud(new pcl::PointCloud<pcl::PointXYZ>);
    gicp.align(*icp_cloud);
    //---------------输出必要信息到显示--------------------
    cout << "Applied " << 35 << " GICP iterations in " << time.toc()/1000 << " s" << endl;
    cout << "\nGICP has converged, score is " << gicp.getFitnessScore() << endl;
    cout << "变换矩阵：\n" << gicp.getFinalTransformation() << endl;
    // 使用变换矩阵对为输入点云进行变换
    pcl::transformPointCloud(*source, *icp_cloud, gicp.getFinalTransformation());
    //pcl::io::savePCDFileASCII (".pcd", *icp_cloud);
   // -----------------点云可视化--------------------------
    boost::shared_ptr<pcl::visualization::PCLVisualizer>
        viewer_final(new pcl::visualization::PCLVisualizer("配准结果"));
    viewer_final->setBackgroundColor(0, 0, 0);  //设置背景颜色为黑色
    // 对目标点云着色可视化 (red).
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>
        target_color(target, 255, 0, 0);
    viewer_final->addPointCloud<pcl::PointXYZ>(target, target_color, "target cloud");
    viewer_final->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
        1, "target cloud");
    // 对源点云着色可视化 (green).
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>
        input_color(source, 0, 255, 0);
    viewer_final->addPointCloud<pcl::PointXYZ>(source, input_color, "input cloud");
    viewer_final->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
        1, "input cloud");
    // 对转换后的源点云着色 (blue)可视化.
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>
        output_color(icp_cloud, 0, 0, 255);
    viewer_final->addPointCloud<pcl::PointXYZ>(icp_cloud, output_color, "output cloud");
    viewer_final->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
        1, "output cloud");
​
    while (!viewer_final->wasStopped())
    {
        viewer_final->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }
​
    return (0);
}

参考