一、VFH特征识别
C++
recognize_objects.h
#pragma once
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>
#include <pcl/console/parse.h>
#include <pcl/console/print.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/features/vfh.h>
#include <pcl/features/normal_3d.h>
#include <boost/filesystem.hpp>
#include <flann/flann.h>
#include <flann/io/hdf5.h>
#include <fstream>
#include <iostream>
#include <boost/algorithm/string/replace.hpp>
// Define vfh_model type for storing data file name and histogram data
typedef std::pair<std::string, std::vector<float> > vfh_model;
// This function estimates VFH signatures of an input point cloud
// Input: File path
// Output: VFH signature of the object
void estimate_VFH(cons