c++ 下使用open3d 计算点云的马氏距离，最邻近距离以及两点云间最邻近距离

最新推荐文章于 2023-06-03 14:00:39 发布

Patient patient.

最新推荐文章于 2023-06-03 14:00:39 发布

阅读量419

点赞数 1

分类专栏：基于C++的Open3D点云处理文章标签： c++ open3d

本文链接：https://blog.csdn.net/qq_44849479/article/details/125424035

版权

基于C++的Open3D点云处理专栏收录该内容

12 篇文章 1 订阅

订阅专栏

c++ 下使用open3d 计算点云的马氏距离，最邻近距离以及两点云间最邻近距离

#include <string>
#include <Eigen>
#include <Open3D/Open3D.h>
using namespace open3d;
using namespace std;



int main(int argc, char* argv[]) {

    //读取点云
    std::shared_ptr<geometry::PointCloud> cloud1(new geometry::PointCloud);
    open3d::io::ReadPointCloud("C:/Users/a/Desktop/1.ply", *cloud1);

    std::shared_ptr<geometry::PointCloud> cloud(new geometry::PointCloud);
    open3d::io::ReadPointCloud("C:/Users/a/Desktop/2.ply", *cloud);

    double max_distance = 2;
    std::vector<double> Mahalanobis_distances(cloud->points_.size());
    Mahalanobis_distances = cloud->ComputeMahalanobisDistance();//计算马氏距离

    std::vector<double> NearestNeighbor_distances(cloud->points_.size());
    NearestNeighbor_distances = cloud1->ComputeNearestNeighborDistance();//计算最临近点距离

    cloud->colors_.resize(cloud->points_.size());
    visualization::ColorMapHot colormap;//通过数值生成颜色信息
    for (size_t i = 0; i < cloud->points_.size(); i++) {
        cloud->colors_[i] = colormap.GetColor(Mahalanobis_distances[i] / max_distance);
    }
    
    cloud1->colors_.resize(cloud1->points_.size());
    for (size_t i = 0; i < cloud1->points_.size(); i++) {
        cloud1->colors_[i] = colormap.GetColor(NearestNeighbor_distances[i] / max_distance);
    }
    visualization::DrawGeometries({cloud}, "visualization", 960, 900, 960, 100);

    visualization::DrawGeometries({ cloud1 }, "visualization", 960, 900, 960, 100);
    std::vector<double> cloud_distance;
    cloud_distance = cloud->ComputePointCloudDistance(*cloud1); //计算两点云间最临近点的距离

    for (int t= 0; t < cloud_distance.size(); t++)
    {
        cout << cloud_distance[t] << endl;
    }
    return 0;
}