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.s