#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/keypoints/uniform_sampling.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/radius_outlier_removal.h>
#include<pcl/filters/convolution.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/keypoints/iss_3d.h>
//读取txt点云文件
void CreateCloudFromTxt(const std::string& file_path, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
{
std::ifstream file(file_path.c_str());
std::string line;
pcl::PointXYZ point;
while (getline(file, line)) {
std::stringstream ss(line);
ss >> point.x;
ss >> point.y;
ss >> point.z;
cloud->push_back(point);
}
file.close();
}
//加载点云数据
void loadPointCloud(const std::string& fileName, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud){
std::string suffix_str = fileName.substr(fileName.find_last_of('.') + 1);//获取文件后缀名
if(suffix_str.compare("pcd") == 0){ //pcd点云文件
if (pcl::io::loadPCDFile<pcl::PointXYZ>(fileName, *cloud) == -1) //* load the pcd file
{
std::cout <<"Couldn't read file \n";
return;
}
}
else if(suffix_str.compare("ply") == 0){ //ply点云文件
if (pcl::io::loadPLYFile<pcl::PointXYZ>(fileName, *cloud) == -1) //* load the ply file
{
std::cout <<"Couldn't read file \n";
return;
}
}
else if(suffix_str.compare("txt") == 0){ //txt点云文件
CreateCloudFromTxt(fileName, cloud);
}
else{
std::cout << "点云文件格式错误" << std::endl;
}
}
int main(int argc, char *argv[])
{
//读取点云数据
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in (new pcl::PointCloud<pcl::PointXYZ>);
// pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
std::string fileName = "xxx/xxx";
//读取点云数据
loadPointCloud(fileName, cloud_in);
pcl::visualization::PCLVisualizer::Ptr viewer(new
pcl::visualization::PCLVisualizer("3D Viewer"));
//ISS核心代码
pcl::ISSKeypoint3D<pcl::PointXYZ, pcl::PointXYZ> iss_det;
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);
iss_det.setSearchMethod(tree);
iss_det.setSalientRadius(2.4);//协方差近邻半径
iss_det.setNonMaxRadius(1.6);//非极大值抑制半径
iss_det.setThreshold21(0.975);
iss_det.setThreshold32(0.975);
iss_det.setMinNeighbors(5);
iss_det.setNumberOfThreads(10);
iss_det.setInputCloud(cloud_in);
iss_det.compute(*cloud_out);
viewer->addPointCloud(cloud_in, "cloud_in");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> rgb(cloud_out, 255, 0, 0);//设置关键点颜色
viewer->addPointCloud(cloud_out, rgb, "cloud_out");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, "cloud_out");//设置关键点大小
viewer->setBackgroundColor (0, 0.3, 0.4);//设置视口的背景颜色
// 阻塞式
viewer->spin();
}
点云关键点提取—ISS
最新推荐文章于 2024-07-14 13:39:50 发布