// surface建立部分
// Normal estimation*
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
tree->setInputCloud(mls_points);
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
n.setInputCloud(mls_points);
n.setSearchMethod(tree);
n.setKSearch(20);
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
n.compute(*normals);
//* normals should not contain the point normals + surface curvatures
// Concatenate the XYZ and normal fields*
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
concatenateFields(*mls_points, *normals, *cloud_with_normals);
//* cloud_with_normals = cloud + normals
// Create search tree*
pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);
tree2->setInputCloud(cloud_with_normals);
// Init objects
pcl::PolygonMesh mesh;
pcl::GridProjection<pcl::PointNormal> grid;
// Set parameters
grid.setResolution(0.005);
grid.setPaddingSize(3);
grid.setNearestNeighborNum(100);
grid.setMaxBinarySearchLevel(10);
// Reconstruct
grid.setInputCloud(cloud_with_normals);
grid.setSearchMethod(tree2);
grid.reconstruct (mesh);
std::cout << "GridProjection reconstruct done"<<std::endl;
Use GridProjection to construct surface
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