一.操作环境:
Win10 X64
VS2017
PCL 8.1 All in One;
二.代码
#pragma warning(disable:4996)
#include <pcl/io/ply_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/correspondence.h> //对应表示两个实体之间的匹配(例如,点,描述符等)。
#include <pcl/features/normal_3d.h> //法线
#include <pcl/features/fpfh.h>
#include <pcl/filters/uniform_sampling.h> //均匀采样
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/pcl_visualizer.h> //可视化
#include <pcl/common/transforms.h> //转换矩阵
#include <pcl/console/parse.h>
#include <pcl/point_types.h>
#include <string>
#include <iostream>
#include <stdio.h>
using namespace std;
typedef pcl::PointXYZRGB PointT; //Point with color
typedef pcl::PointCloud<PointT> PointCloud; //PointCloud with color
int main()
{
string model_filename = "E:/谷歌浏览器下载/DownSampingNormalEstimationFPFH-master/dataset/boat.ply";
bool display = true;
bool downSampling = false;
//load pcd/ply point cloud