《PCL从零开始》-2.读取pcd文件并对原始点云点云调平

首先默认你环境已经配置好了
运行环境为：vs2019 + pcl1.12.1 +win10
开始 实例 代码

加载库

#include <string>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/common/eigen.h>
#include <pcl/common/centroid.h>
#include <pcl/segmentation/sac_segmentation.h>   //基于采样一致性分割的类的头文件
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/project_inliers.h>   //投影滤波相关头文件
#include <pcl/search/search.h>//树搜索头文件
#include <pcl/features/normal_3d_omp.h>//使用OMP需要添加的头文件
#include <Eigen/Core>//包络框使用的
#include <Eigen/dense>//包络框使用的
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>//包络框使用的
#include<time.h>
using PointT = pcl::PointXYZ;

主函数

void main()
{
	// -------------------------------------------加载点云---------------------------------------------
	pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
	if (pcl::io::loadPCDFile <PointT>("before.pcd", *cloud) == -1)
	{
		PCL_ERROR("Cloud reading failed.");

	}


	// Find the dominant direction
	Eigen::Vector4f centroid;
	Eigen::Matrix3f covariance_matrix;
	pcl::compute3DCentroid(*cloud, centroid);
	pcl::computeCovarianceMatrixNormalized(*cloud, centroid, covariance_matrix);
	Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> eigen_solver(covariance_matrix, Eigen::ComputeEigenvectors);
	Eigen::Vector3f eigenvalues = eigen_solver.eigenvalues();
	Eigen::Matrix3f eigenvectors = eigen_solver.eigenvectors();
	Eigen::Vector3f main_direction = eigenvectors.col(2);

	// Calculate the rotation angle
	Eigen::Vector3f z_axis(0.f, 0.f, 1.f);
	float rotation_angle = -acos(main_direction.dot(z_axis) / (main_direction.norm() * z_axis.norm()));

	// Calculate the rotation matrix
	Eigen::Matrix4f rotation_matrix = Eigen::Matrix4f::Identity();
	rotation_matrix.block<2, 2>(0, 0) << std::cos(rotation_angle), -std::sin(rotation_angle),
		std::sin(rotation_angle), std::cos(rotation_angle);

	// Apply the rotation matrix to the point cloud
	pcl::transformPointCloud(*cloud, *cloud, rotation_matrix);

	 Move the point cloud to the origin
	//Eigen::Vector4f centroid_new;
	//pcl::compute3DCentroid(*cloud, centroid_new);
	//Eigen::Affine3f transform = Eigen::Affine3f::Identity();
	//transform.translation() << -centroid_new[0], -centroid_new[1], -centroid_new[2];
	//pcl::transformPointCloud(*cloud, *cloud, transform);

	pcl::io::savePCDFileASCII("after.pcd", *cloud);
}```