点云的法向量

1.在这里采用的是pcl点云库。pcl点云库可能存在配置问题，用cmake时候默认支持的是32位的处理，所以建议安装pcl 32位的all-in-one。这样不容易产生错误。
2. 下面试cmake的内容。

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(MY_NORMAL_PROJECT)
find_package(PCL 1.3 REQUIRED )
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(normaltest normaltest.cpp)
target_link_libraries(normaltest ${PCL_LIBRARIES})

3.下面是$normaltest.cpp$的内容

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/surface/mls.h>
#include <pcl/common/centroid.h>
#include <pcl/common/transforms.h>
#include<iostream>
#include<fstream>
#include<vector>
typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
//using namespace std;
int
main (int argc,
      char *argv[])
{
    //read file
    std::vector<double> X_vector;
    std::vector<double> Y_vector;
    std::vector<double> Z_vector;
    std::vector<double> R_vector;
    std::vector<double> G_vector;
    std::vector<double> B_vector;
    double x_temp, y_temp, z_temp, r_temp, g_temp, b_temp,U,V;
    //std::fstream in;
    for (int jj=0; jj < 1;jj++)
    { 
        std::fstream in;
        char filename[30] = {0};
        sprintf(filename, "Data%d.txt", jj);
        /*fstream in(filename);*/
        in.open(filename, fstream::in);
        cout<<"process "<<filename<<endl;
    //in.open("Data0.txt", fstream::in);
    in.seekg(0);
    int NumPoint;
     //int nnnn=10000;
    while (!in.eof())// while(nnnn--)
    {
        //cout<<x_temp<<"\t";
        in >> x_temp >> y_temp >> z_temp >> r_temp >> g_temp >> b_temp>>U>>V;
        //cout<<x_temp<<"\t";
        X_vector.push_back(x_temp);
        Y_vector.push_back(y_temp);
        Z_vector.push_back(z_temp);
        R_vector.push_back(r_temp);
        G_vector.push_back(g_temp);
        B_vector.push_back(b_temp);

    }
    cout<<"read done"<<filename<<endl;
    NumPoint =X_vector.size();
    cout<<NumPoint<<endl;
    cout<<"begin!\n";
  // Load point cloud from disk
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);

  // Fill in the cloud data
  cloud->width  = NumPoint;
  cloud->height = 1;
  cloud->points.resize (cloud->width * cloud->height);
  cout<<"cloud->points.size ()"<<cloud->points.size ()<<endl;
  //for (size_t i = 0; i < cloud->points.size (); ++i)
  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
        //cout<<i<<endl;
    cloud->points[i].x = X_vector.at(i) ;
    cloud->points[i].y = Y_vector.at(i) ;
    cloud->points[i].z = Z_vector.at(i) ;
    cloud->points[i].r = (int)R_vector.at(i) ;
    cloud->points[i].g = (int)G_vector.at(i) ;
    cloud->points[i].b = (int)B_vector.at(i) ;
    //cout<<i<<endl;
  }

  //PointCloudT::Ptr cloud (new PointCloudT);
  PointCloudT::Ptr cloud_centered (new PointCloudT);



  // Compute 3D centroid of the point cloud
  Eigen::Vector4f centroid;
  pcl::compute3DCentroid (*cloud, centroid);
  std::cout << "Centroid\n" << centroid.head<3>() << std::endl;
  // Translate point cloud centroid to origin
  Eigen::Affine3f transformation (Eigen::Affine3f::Identity());
  transformation.translation() << -centroid.head<3>();
  pcl::transformPointCloud(*cloud, *cloud_centered, transformation);

  // Normal estimation
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
  pcl::PointCloud<pcl::Normal>::Ptr cloud_centered_normals (new pcl::PointCloud<pcl::Normal>);
  pcl::search::KdTree<PointT>::Ptr tree (new pcl::search::KdTree<PointT> ());
  pcl::NormalEstimation<PointT, pcl::Normal> ne;
  ne.setSearchMethod (tree);
  ne.setRadiusSearch (0.0072);
  ne.setViewPoint (0, 0, 1.0);
  // Compute normals on original cloud
  ne.setInputCloud (cloud);
  ne.compute (*cloud_normals);
  // Compute normals on centered cloud
  ne.setInputCloud (cloud_centered);
  ne.compute (*cloud_centered_normals);
  //write file
  char filename1[30] = {0};
  sprintf(filename1, "Normal%d.asc", jj);
  /*fstream in(filename);*/
  std::fstream out1;
  out1.open(filename1, fstream::out);

  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
      //cout<<i<<endl;
      out1<<cloud->points[i].x<<"\t"
          <<cloud->points[i].y<<"\t"
          <<cloud->points[i].z<<"\t"
          <<(int)cloud->points[i].r<<"\t"
          <<(int)cloud->points[i].g<<"\t"
          <<(int)cloud->points[i].b<<"\t"
         <<cloud_normals->points[i].normal_x<<"\t"
          <<cloud_normals->points[i].normal_y<<"\t"
         <<cloud_normals->points[i].normal_z<<"\n";
      //cout<<i<<endl;
  }
  out1.close();

  char filename2[50] = {0};
  sprintf(filename2, "NormalCenter%d.asc", jj);
  /*fstream in(filename);*/
  std::fstream out2;
  out2.open(filename2, fstream::out);

  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
      //cout<<i<<endl;
      out2<<cloud->points[i].x<<"\t"
          <<cloud->points[i].y<<"\t"
          <<cloud->points[i].z<<"\t"
          <<(int)R_vector.at(i)<<"\t"
          <<(int)G_vector.at(i)<<"\t"
          <<(int)B_vector.at(i)<<"\t"
          <<cloud_centered_normals->points[i].normal_x<<"\t"
          <<cloud_centered_normals->points[i].normal_y<<"\t"
          <<cloud_centered_normals->points[i].normal_z<<"\n";
      //cout<<i<<endl;
  }
  out2.close();
  X_vector.clear();
  Y_vector.clear();
  Z_vector.clear();
  R_vector.clear();
  G_vector.clear();
  B_vector.clear();
  cout<<"finish "<<jj<<endl<<endl;
  // Visualization
  pcl::visualization::PCLVisualizer viewer ("Normals visualizer");
  int v1(0); int v2(1);
  viewer.createViewPort (0.0, 0.0, 0.5, 1.0, v1);
  viewer.createViewPort (0.5, 0.0, 1.0, 1.0, v2);
  viewer.setBackgroundColor(0.1, 0.1, 0.1, v2);

  // Add point clouds
  viewer.addPointCloud (cloud, "cloud", v1);
  viewer.addPointCloudNormals<PointT, pcl::Normal> (cloud, cloud_normals, 1, 0.05, "normals", v1);
  viewer.addPointCloud (cloud_centered, "cloud_centered", v2);
  viewer.addPointCloudNormals<PointT, pcl::Normal> (cloud_centered, cloud_centered_normals, 1, 0.05, "centered_normals", v2);

  while (!viewer.wasStopped ())
    viewer.spinOnce ();
  }
  return 0;
}

4.这是输入点云的文件
本人的点云数据中一行包括了$ＸＹＺＲＧＢＵＶ$其实估算法向向量只要用到$XYZ$

5.通过cmake编译了程序之后，在利用vs生成之后在debug文件下，直接运行exe文件就可以得到点云的方向量

6.可视化的结果