PCL贪婪投影三角化算法详解编程语言

#include<iostream> 
#include<pcl/io/pcd_io.h> 
#include <pcl/io/ply_io.h> 
#include<pcl/point_types.h> 
#include <pcl/kdtree/kdtree_flann.h> 
#include <pcl/features/normal_3d.h> 
#include <pcl/io/obj_io.h> 
#include <pcl/surface/gp3.h> 
#include <pcl/visualization/pcl_visualizer.h> 
 
int main(int argc, char** argv) { 
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>()); 
    pcl::PCLPointCloud2 cloud_blob; 
    //*打开点云文件 
    if (pcl::io::loadPCDFile("rabbit.pcd", cloud_blob) == -1) { 
        PCL_ERROR("Couldn't read file rabbit.pcd/n"); 
        return(-1); 
    } 
    pcl::fromPCLPointCloud2(cloud_blob, *cloud); 
 
    //法线估计对象 
    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n; 
    //存储估计的法线 
    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>); 
    //定义kd树指针 
    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); 
    //估计法线存储到其中 
    n.compute(*normals);//Concatenate the XYZ and normal fields* 
    pcl::PointCloud<pcl::PointNormal>::Ptr cloud_width_normals(new pcl::PointCloud<pcl::PointNormal>); 
    //链接字段 
    pcl::concatenateFields(*cloud, *normals, *cloud_width_normals); 
 
    //定义搜索树对象 
    pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>); 
    //点云构建搜索树 
    tree2->setInputCloud(cloud_width_normals); 
 
    //定义三角化对象 
    pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3; 
    //存储最终三角化的网络模型 
    pcl::PolygonMesh triangles;//设置连接点之间的最大距离，（即是三角形最大边长） 
    gp3.setSearchRadius(200.0f); 
    //设置各种参数值 
    gp3.setMu(2.5f); 
    gp3.setMaximumNearestNeighbors(100); 
    gp3.setMaximumSurfaceAngle(M_PI_4); 
    gp3.setMinimumAngle(M_PI / 18); 
    gp3.setMaximumAngle(2 * M_PI / 3); 
    gp3.setNormalConsistency(false); 
 
    //设置搜索方法和输入点云 
    gp3.setInputCloud(cloud_width_normals); 
    gp3.setSearchMethod(tree2); 
 
    //执行重构，结果保存在triangles中 
    gp3.reconstruct(triangles); 
     
    //保存网格图   
    //pcl::io::saveOBJFile("result.obj", triangles); 
    std::string output_dir = "E:/C/cloud_mesh.ply"; 
    std::string sav = "saved mesh in:"; 
    sav += output_dir; 
    pcl::console::print_info(sav.c_str()); 
    std::cout << std::endl; 
 
    pcl::io::savePLYFileBinary(output_dir.c_str(), triangles); 
     
    // 显示结果图   
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("MAP3D MESH")); 
    ////设置背景; 
    viewer->setBackgroundColor(0, 0, 0); 
    //设置显示的网格 
    viewer->addPolygonMesh(triangles, "my"); 
    //viewer->initCameraParameters(); 
    while (!viewer->wasStopped()) { 
        viewer->spin(); 
    } 
    std::cout << "success" << std::endl; 
    return 0; 
}