PCL点云网格化

PCL点云网格化

#include 
#include 
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#include 

void main()
{
    pcl::PointCloud::PointXYZ>::Ptr cloud(new pcl::PointCloud::PointXYZ>);  
    if(pcl::io::loadPCDFile("C:\\Users\\wangyang\\Desktop\\LXD-Part.pcd", *cloud) == -1)
    {
        PCL_ERROR("Could not read pcd file!\n") ;  
            return;
    }  
    pcl::PointCloud::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud::PointNormal>);  
    pcl::NormalEstimation::PointXYZ, pcl::Normal> n ;//法线估计对象
    pcl::PointCloud::Normal>::Ptr normals(new pcl::PointCloud::Normal>);//存储估计的法线
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);  
    tree->setInputCloud(cloud) ; 
    n.setInputCloud(cloud) ;  
    n.setSearchMethod(tree) ; 
    n.setKSearch(20);
    n.compute(*normals) ;
    pcl::concatenateFields(*cloud, *normals , *cloud_with_normals) ;
    pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
    tree2->setInputCloud(cloud_with_normals) ;
    pcl::GreedyProjectionTriangulation::PointNormal> gp3 ;
    pcl::PolygonMesh mesh ; //存储最终三角化的网格模型
    gp3.setSearchRadius(2);//这个参数需要更改
    gp3.setMu(2.5);//设置样本点搜索其邻近点的最远距离为2.5 
    gp3.setMaximumNearestNeighbors(100);//设置样本点搜索的邻域个数为100
    gp3.setMaximumSurfaceAngle(M_PI/3);//设置某点法线方向偏离样本点法线方向的最大角度为45度
    gp3.setMinimumAngle(M_PI/180);//设置三角化后得到的三角形内角最小角度为10度
    gp3.setMaximumAngle(2*M_PI/3);
    gp3.setNormalConsistency(false);//设置该参数保证法线朝向一致
    gp3.setInputCloud(cloud_with_normals) ;//设置输入点云为有向点云
    gp3.setSearchMethod(tree2) ;//设置搜素方式为tree2
    gp3.reconstruct(mesh) ;//重建提取三角化

    std::vector parts = gp3.getPartIDs() ;

    std::vector status = gp3.getPointStates() ;
    fstream fs ;
    fs.open("partsID.txt", ios::out);

    if(!fs) 
    {
        return; 
    }  

    fs<<"点云数量为："<"\n";

    for(int i = 0; i < parts.size() ; i++)
    {
        if(parts[i] != 0)
        { 
            fs<"\n"; 

        }  
    } 

    boost::shared_ptr::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3Dviewer")) ;
    viewer->setBackgroundColor(0, 0, 0);
    viewer->addPolygonMesh(mesh, "W");
    viewer->initCameraParameters();
    while(!viewer->wasStopped()) 
    {  
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(50000));
    } 
    return;
}