pcl曲面重建模块-poisson重建算法示例

#include <iostream>
#include <pcl/common/common.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/point_types.h>
#include <pcl/surface/mls.h>
#include <pcl/surface/poisson.h>
#include <pcl/filters/passthrough.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

using namespace pcl;
using namespace std;

int
main (int argc, char** argv)
{

/*点云读入阶段*/
if(argc <= 2) {
cout << "请输入点云数据文件名称，并指定输出数据文件名称" << endl;
return 1;

}
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
if(io::loadPCDFile<PointXYZ> (argv[1], *cloud) == -1){
cout << "数据读入失败！！" << endl;

return 1;
}
cout << "数据读入　　　完成" << endl;

/*滤波阶段*/
PointCloud<PointXYZ>::Ptr filtered(new PointCloud<PointXYZ>());
PassThrough<PointXYZ> filter;
filter.setInputCloud(cloud);
filter.filter(*filtered);
cout << "低通滤波　　　完成" << endl;

// MovingLeastSquares<PointXYZ, PointXYZ> mls;
// mls.setInputCloud(filtered);
// mls.setSearchRadius(0.01);
// mls.setPolynomialFit(true);
// mls.setPolynomialOrder(2);
// mls.setUpsamplingMethod(MovingLeastSquares<PointXYZ, PointXYZ>::SAMPLE_LOCAL_PLANE);
// mls.setUpsamplingRadius(0.005);
// mls.setUpsamplingStepSize(0.003);

// PointCloud<PointXYZ>::Ptr cloud_smoothed (new PointCloud<PointXYZ>());
// mls.process(*cloud_smoothed);
// cout << "移动最小二乘平面滤波完成" << endl;

/*法向计算阶段*/
NormalEstimationOMP<PointXYZ, Normal> ne;
ne.setNumberOfThreads(8);
ne.setInputCloud(filtered);
ne.setRadiusSearch(5);
Eigen::Vector4f centroid;
compute3DCentroid(*filtered, centroid);
ne.setViewPoint(centroid[0], centroid[1], centroid[2]);

PointCloud<Normal>::Ptr cloud_normals (new PointCloud<Normal>());
ne.compute(*cloud_normals);

for(size_t i = 0; i < cloud_normals->size(); ++i){
cloud_normals->points[i].normal_x *= -1;
cloud_normals->points[i].normal_y *= -1;
cloud_normals->points[i].normal_z *= -1;
}

PointCloud<PointNormal>::Ptr cloud_smoothed_normals(new PointCloud<PointNormal>());
//将点云数据的坐标和法向信息拼接
concatenateFields(*filtered, *cloud_normals, *cloud_smoothed_normals);

cout << "法向计算　　　完成" << endl;

/*poission 重建阶段*/
//创建poisson重建对象
Poisson<PointNormal> poisson;
// poisson.setDepth(9);
//输入poisson重建点云数据
poisson.setInputCloud(cloud_smoothed_normals);
//创建网格对象指针，用于存储重建结果
PolygonMesh mesh;
//poisson重建开始
poisson.reconstruct(mesh);

//将重建结果存储到硬盘，并保存为PLY格式
io::savePLYFile(argv[2], mesh);
cout << "曲面重建　　　完成" << endl;

/*图形显示阶段*/
cout << "开始图形显示......" << endl;
boost::shared_ptr<pcl::visualization::PCLVisualizer>viewer(new pcl::visualization::PCLVisualizer("my viewer"));

viewer->setBackgroundColor(0,0,7);
viewer->addPolygonMesh(mesh, "my");
viewer->addCoordinateSystem(50.0);
viewer->initCameraParameters();

while(!viewer->wasStopped()){

viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}

return (0);
}