点云配准python代码_RANSAC 点云配准

一、算法原理

二、代码实现

1、C++版本

#include 
#include 
#include 
#include 
#include 
#include 
#include 

using namespace std;
typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<:pointxyz> pointcloud;typedef pcl::PointCloud<:normal> pointnormal;typedef pcl::PointCloud<:fpfhsignature33> fpfhFeature;typedef pcl::PointCloud<:pointxyz> pointcloud;
fpfhFeature::Ptr compute_fpfh_feature(pointcloud::Ptr input_cloud){
    
    pcl::search::KdTree<:pointxyz>::Ptr tree(new pcl::search::KdTree<:pointxyz>());//-------------------------法向量估计-----------------------
    pointnormal::Ptr normals(new pointnormal);
    pcl::NormalEstimationOMP<:pointxyz> n;
    n.setInputCloud(input_cloud);
    n.setNumberOfThreads(8);//设置openMP的线程数
    n.setSearchMethod(tree);
    n.setKSearch(10);
    n.compute(*normals);//------------------FPFH估计-------------------------------
    fpfhFeature::Ptr fpfh(new fpfhFeature);
    pcl::FPFHEstimationOMP<:pointxyz> f;
    f.setNumberOfThreads(8); //指定8核计算
    f.setInputCloud(input_cloud);
    f.setInputNormals(normals);
    f.setSearchMethod(tree);
    f.setKSearch(10);
    f.compute(*fpfh);return fpfh;
}void visualize_pcd(pointcloud::Ptr pcd_src, pointcloud::Ptr pcd_tgt, pointcloud::Ptr pcd_final){
    
    pcl::visualization::PCLVisualizer viewer("registration Viewer");//--------创建两个显示窗口并设置背景颜色------------int v1, v2;
    viewer.createViewPort(0, 0.0, 0.5, 1.0, v1);
    viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);
    viewer.setBackgroundColor(255, 255, 255, v1);
    viewer.