贪婪投影 greedy projection

最新推荐文章于 2023-07-25 23:53:18 发布
xuanzijie
最新推荐文章于 2023-07-25 23:53:18 发布
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分类专栏： PCL 文章标签：算法三维
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http://blog.csdn.net/xuezhisdc/article/details/51034272
通过本教程，我们将会学会：
如果通过贪婪三角投影算法进行三维点云重构。
程序支持两种文件格式：*.pcd和*.ply。
程序先读取点云文件；然后计算法向量，并将法向量和点云坐标放在一起；接着使用贪婪三角投影算法进行重构，最后显示结果。
操作

在VS2010 中新建一个文件 recon_greedyProjection.cpp，然后将下面的代码复制到文件中。
参照之前的文章，配置项目的属性。设置包含目录和库目录和附加依赖项。
<code class="language-cpp hljs  has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*
* GreedyProjection是根据点云进行三角化，而 poisson 则是对water-tight的模型进行重建，
* 所以形成了封闭mesh和很多冗余信息，需要对poisson的重建进行修剪才能得到相对正确的模型
*
*/</span>

<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <pcl/point_types.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <pcl/io/pcd_io.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <pcl/io/ply_io.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <pcl/kdtree/kdtree_flann.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <pcl/features/normal_3d.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <pcl/surface/gp3.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <pcl/visualization/pcl_visualizer.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <boost/thread/thread.hpp></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <fstream></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <iostream></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <stdio.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <string.h></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <string></span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> main (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> argc, <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>** argv)
{
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// 确定文件格式</span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> tmpStr[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">100</span>];
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">strcpy</span>(tmpStr,argv[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]);
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* pext = <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">strrchr</span>(tmpStr, <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'.'</span>);
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">string</span> extply(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"ply"</span>);
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">string</span> extpcd(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"pcd"</span>);
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span>(pext){
        *pext=<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'\0'</span>;
        pext++;
    }
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">string</span> ext(pext);
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//如果不支持文件格式，退出程序</span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (!((ext == extply)||(ext == extpcd))){
        <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span> << <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"文件格式不支持!"</span> << <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::endl;
        <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span> << <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"支持文件格式：*.pcd和*.ply！"</span> << <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::endl;
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span>(-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);
    }

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//根据文件格式选择输入方式</span>
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> pcl::PointCloud<pcl::PointXYZ>) ; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//创建点云对象指针，用于存储输入</span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (ext == extply){
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (pcl::io::loadPLYFile(argv[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] , *cloud) == -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>){
            PCL_ERROR(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Could not read ply file!\n"</span>) ;
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;
        }
    }
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>{
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (pcl::io::loadPCDFile(argv[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] , *cloud) == -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>){
            PCL_ERROR(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Could not read pcd file!\n"</span>) ;
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;
        }
    }

  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// 估计法向量</span>
  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
  pcl::PointCloud<pcl::Normal>::Ptr normals (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> pcl::PointCloud<pcl::Normal>);
  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> pcl::search::KdTree<pcl::PointXYZ>);
  tree->setInputCloud (cloud);
  n.setInputCloud (cloud);
  n.setSearchMethod (tree);
  n.setKSearch (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">20</span>);
  n.compute (*normals); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//计算法线，结果存储在normals中</span>
  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//* normals 不能同时包含点的法向量和表面的曲率</span>

  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//将点云和法线放到一起</span>
  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> pcl::PointCloud<pcl::PointNormal>);
  pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//* cloud_with_normals = cloud + normals</span>

  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//创建搜索树</span>
  pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> pcl::search::KdTree<pcl::PointNormal>);
  tree2->setInputCloud (cloud_with_normals);

  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//初始化GreedyProjectionTriangulation对象，并设置参数</span>
  pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//创建多变形网格，用于存储结果</span>
  pcl::PolygonMesh triangles;

  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置GreedyProjectionTriangulation对象的参数</span>
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//第一个参数影响很大</span>
  gp3.setSearchRadius (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1.5f</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置连接点之间的最大距离（最大边长）用于确定k近邻的球半径【默认值 0】</span>
  gp3.setMu (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2.5f</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置最近邻距离的乘子，以得到每个点的最终搜索半径【默认值 0】</span>
  gp3.setMaximumNearestNeighbors (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">100</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置搜索的最近邻点的最大数量</span>
  gp3.setMaximumSurfaceAngle(M_PI/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// 45 degrees（pi）最大平面角</span>
  gp3.setMinimumAngle(M_PI/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">18</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// 10 degrees 每个三角的最小角度</span>
  gp3.setMaximumAngle(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*M_PI/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// 120 degrees 每个三角的最大角度</span>
  gp3.setNormalConsistency(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">false</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//如果法向量一致，设置为true</span>

  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置搜索方法和输入点云</span>
  gp3.setInputCloud(cloud_with_normals);
  gp3.setSearchMethod(tree2);

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//执行重构，结果保存在triangles中</span>
  gp3.reconstruct (triangles);

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//保存网格图</span>
    pcl::io::savePLYFile(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"result.ply"</span>, triangles);

  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// Additional vertex information</span>
  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//std::vector<int> parts = gp3.getPartIDs();</span>
  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//std::vector<int> states = gp3.getPointStates();</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// 显示结果图</span>
  boost::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">shared_ptr</span><pcl::visualization::PCLVisualizer> viewer (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> pcl::visualization::PCLVisualizer (<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"3D Viewer"</span>));
  viewer->setBackgroundColor (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置背景</span>
  viewer->addPolygonMesh(triangles,<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"my"</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置显示的网格</span>
  viewer->addCoordinateSystem (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1.0</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//设置坐标系</span>
  viewer->initCameraParameters ();
  <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">while</span> (!viewer->wasStopped ()){
    viewer->spinOnce (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">100</span>);
    boost::this_thread::sleep (boost::posix_time::microseconds (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">100000</span>));
  }

  <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);
}
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padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li></ul>
重新生成项目。
到改项目的Debug目录下，按住Shift，同时点击鼠标右键，在当前窗口打开CMD窗口。
在命令行中输入recon_greedyProjection.exe bunny.points.ply，执行程序。得到如下图所示的结果。
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贪婪投影 greedy projection

http://blog.csdn.net/xuezhisdc/article/details/51034272通过本教程，我们将会学会：如果通过贪婪三角投影算法进行三维点云重构。程序支持两种文件格式：*.pcd和*.ply。程序先读取点云文件；然后计算法向量，并将法向量和点云坐标放在一起；接着使用贪婪三角投影算法进行重构，最后显示结果。操作在VS2010
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