Open3D 第一个工程 求点云法向量

编译好Open3D，就用cmake配置了个工程，测试下效果，c++版本的接口和python接口基本一致，使用上很方便，编译和运行速度相对比较快

1.创建CMakeLists.txt文件

cmake_minimum_required(VERSION 3.18)
project(Open3DCMakeFindPackage LANGUAGES C CXX)
# Find installed Open3D, which exports Open3D::Open3D
find_package(Open3D REQUIRED)
add_executable(Draw)
target_sources(Draw PRIVATE Draw.cpp)
target_link_libraries(Draw PRIVATE Open3D::Open3D)

2.Draw.cpp

点云数据较不稳定，采用较大搜索半径来计算法向量，提高准确性

#include <chrono>
#include <cstdio>
#include <memory>
#include <open3d/geometry/KDTreeSearchParam.h>
#include <open3d/io/PointCloudIO.h>
#include <open3d/visualization/rendering/Open3DScene.h>
#include <string>
#include <memory.h>
#include "open3d/Open3D.h"

int main(int argc, char *argv[]) {
   
   auto cloud = std::make_shared<open3d::geometry::PointCloud>();
   open3d::io::ReadPointCloudOption rdo;
   open3d::io::ReadPointCloudFromPCD("./cloud/0913--005/001_0005-00004.pcd", *cloud, rdo);
   auto st = std::chrono::steady_clock::now();

   auto downpcd =  cloud->VoxelDownSample(30);
//    printf("down size: %d \n", )

   downpcd->EstimateNormals(open3d::geometry::KDTreeSearchParamRadius(200),true);
   std::chrono::duration<double> tm =  (std::chrono::steady_clock::now()-st) ;
   printf("time is :%f ms\n",tm.count()*1000.0);
   cloud->PaintUniformColor({0.0, 1.0, 0.0});
   open3d::visualization::DrawGeometries({cloud},"source cloud",640,480,50,50,false,false,false );
   open3d::visualization::DrawGeometries({downpcd},"Open3D normal estimatio",640,480,50,50,true,false,false );
   return 0;
}

结果：time is :76.279722 ms

参考：

1. https://blog.csdn.net/qq_39629280/article/details/120223422 link