SIFT特征点的fpfh
配准代码
#include <pcl/registration/sample_consensus_prerejective.h>
pcl::console::print_highlight("开始进行配准\n");
pcl::SampleConsensusPrerejective<PointNT, PointNT, FeatureT> align;
align.setInputSource(scene);
align.setSourceFeatures(scene_features);
align.setInputTarget(object);
align.setTargetFeatures(object_features);
align.setMaximumIterations(50000); // 采样一致性迭代次数
align.setNumberOfSamples(3); // 创建假设所需的样本数
align.setCorrespondenceRandomness(5); // 使用的临近特征点的数目
align.setSimilarityThreshold(0.8f); // 多边形边长度相似度阈值
align.setMaxCorrespondenceDistance(2.6f * 1.0); // 判断是否为内点的距离阈值
align.setInlierFraction(0.25f); // 接受位姿假设所需的内点比例
{
pcl::ScopeTime t("执行配准");
align.align(*object_aligned);
}
pcl::io::savePCDFileASCII("object_aligned.pcd", *object_aligned);
PointCloudT::Ptr icp_result(new