法向量计算
// 表面法向量
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
// 包含相关头文件
#include<pcl/features/normal_3d.h>
#include<pcl/visualization/pcl_visualizer.h>
typedef pcl::PointXYZ PointT;
typedef pcl::PointNormal PointNT;
int main() {
// 读取点云
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
pcl::io::loadPCDFile("rabbit.pcd", *cloud);
// 计算法向量
pcl::NormalEstimation<PointT, PointNT> nest;
nest.setKSearch(50);//设置拟合时采用的点数
nest.setInputCloud(cloud);
pcl::PointCloud<PointNT>::Ptr normals(new pcl::PointCloud<PointNT>);
nest.compute(*normals);
for (size_t i = 0; i < cloud->size(); i++)
{
// 生成时只生成了法向量,没有将原始点云信息拷贝,为了显示需要复制原信息
normals->points[i].x = cloud->points[i].x;
normals->points[i].y = cloud->points[i].y;
normals->points[i].z = cloud->points[i].z;
}
//显示
pcl::visualization::PCLVisualizer viewer;
viewer.setBackgroundColor(0, 0, 0);
viewer.addPointCloud(cloud, "cloud");
int level = 100; // 多少条法向量集合显示成一条
float scale = 1; // 法向量长度
//pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z");
viewer.addPointCloudNormals<PointNT>(normals, level, scale, "normals");
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z");//按照z字段进行渲染
viewer.addPointCloud<pcl::PointXYZ>(cloud, fildColor, "sample");//显示点云,其中fildColor为颜色显示
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample");//设置点云大小
viewer.spin();
system("pause");
return 0;
}
参考链接:https://github.com/MNewBie/PCL-Notes/blob/master/chapter2.md