点云关键点提取—harris

最新推荐文章于 2024-07-14 13:39:50 发布

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最新推荐文章于 2024-07-14 13:39:50 发布

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分类专栏： PCL学习文章标签： 1024程序员节 c++ 图像处理数据可视化

本文链接：https://blog.csdn.net/weixin_43850909/article/details/134015792

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#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>
#include <pcl/keypoints/harris_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>);

    std::string fileName = "xxx.pcd";

    //读取点云数据
//    loadPointCloud(fileName, cloud_in);
    if (pcl::io::loadPCDFile<pcl::PointXYZ>(fileName, *cloud_in) == -1) //* load the file
    {
        return(-1) ;
    }

    //harris核心代码
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::HarrisKeypoint3D<pcl::PointXYZ,pcl::PointXYZI> harris;
    pcl::PointCloud<pcl::PointXYZI>::Ptr harris_keypoint(new pcl::PointCloud<pcl::PointXYZI>);

    harris.setInputCloud(cloud_in);
    harris.setMethod(harris.LOWE);
    harris.setRadius(0.5);//法线估计半径
    harris.setRadiusSearch(0.2);//临近点检测半径
    harris.setThreshold(0.002);
    harris.setNumberOfThreads(10);
    harris.setNonMaxSupression(true);
    harris.compute(*harris_keypoint);

    pcl::PointIndicesConstPtr keypointIndices=harris.getKeypointsIndices();
    pcl::copyPointCloud(*cloud_in,*keypointIndices,*cloud_out);

    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> rgb(cloud_out, 255, 0, 0);//设置关键点颜色
    viewer->addPointCloud(cloud_out, rgb, "harris_keypoint");
    viewer->addPointCloud(cloud_in, "cloud_in");

    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, "harris_keypoint");//设置关键点大小
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud_in");//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();
}