一、SUSAN关键点检测
C++
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/common_headers.h>
#include <pcl/keypoints/susan.h>
using namespace std;
int main(int, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);//要配准变化的点云
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_target(new pcl::PointCloud<pcl::PointXYZ>);//目标点云(不变的)
if (pcl::io::loadPCDFile<pcl::PointXYZ>("pcd/pig_view1.pcd", *cloud) == -1)
{
PCL_ERROR("加载点云失败\n");
}
if (pcl::io::loadPCDFile<pcl::PointXYZ>("pcd/pig_view2.pcd", *cloud_target) == -1)
{
PCL_ERROR("加载点云失败\n");
}
pcl::PointC