Part 13 PCL1.72(VTK6.2.0)ICP示例
1、ICP
cpp:
- #include <iostream>
- #include <pcl/io/pcd_io.h>
- #include <pcl/point_types.h>
- #include <pcl/registration/icp.h>
- #include <pcl/visualization/pcl_visualizer.h>
- int main(int argc, char** argv)
- {
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_source (new pcl::PointCloud<pcl::PointXYZ>);
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_target (new pcl::PointCloud<pcl::PointXYZ>);
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_source_registration (new pcl::PointCloud<pcl::PointXYZ>);
- // check arguments
- if(argc != 3) {
- std::cout << "ERROR: the number of arguments is illegal!" << std::endl;
- return -1;
- }
- // load pcd file
- if(pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud_source)==-1) {
- std::cout << "load source failed!" << std::endl;
- return -1;
- }
- std::cout << "source loaded!" << std::endl;
- if(pcl::io::loadPCDFile<pcl::PointXYZ>(argv[2], *cloud_target)==-1) {
- std::cout << "load target failed!" << std::endl;
- return -1;
- }
- std::cout << "target loaded!" << std::endl;
- // ICP
- pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
- pcl::search::KdTree<pcl::PointXYZ>::Ptr tree1 (new pcl::search::KdTree<pcl::PointXYZ>);
- tree1->setInputCloud(cloud_source);
- pcl::search::KdTree<pcl::PointXYZ>::Ptr tree2 (new pcl::search::KdTree<pcl::PointXYZ>);
- tree2->setInputCloud(cloud_target);
- icp.setSearchMethodSource(tree1);
- icp.setSearchMethodTarget(tree2);
- icp.setInputSource(cloud_source);
- icp.setInputTarget(cloud_target);
- icp.setMaxCorrespondenceDistance(1500);
- icp.setTransformationEpsilon(1e-10);
- icp.setEuclideanFitnessEpsilon(0.1);
- icp.setMaximumIterations(300);
- icp.align(*cloud_source_registration);
- Eigen::Matrix4f transformation = icp.getFinalTransformation();
- std::cout << transformation << std::endl;
- // display
- pcl::visualization::PCLVisualizer viewer;
- pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> src_r_h(cloud_source_registration, 255, 0, 0);
- pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> tgt_h (cloud_target, 0, 255, 0);
- pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> src_h (cloud_source, 0, 0, 255);
- viewer.addPointCloud(cloud_source_registration, src_r_h,"source_r");
- viewer.addPointCloud(cloud_target, tgt_h, "target");
- viewer.addPointCloud(cloud_source, src_h, "source");
- viewer.spin();
- return 0;
- }
控制台中运行,输入icp.exe rabbit.pcd rabbit_t.pcd,可以看到配准的效果。
从倒数第6-8行代码可以知道,配准后的数据颜色设置为红色,配准目标数据为绿色,配准的源数据为蓝色。
转:https://blog.csdn.net/sinat_24206709/article/details/51788173