// 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::MarchingCubesGreedy<pcl::PointNormal> mc;
// Set parameters
double leafSize = 0.01;
float isoLevel = 0.5;
mc.setInputCloud(cloud_with_normals);
mc.setSearchMethod(tree2);
mc.setLeafSize(leafSize);
mc.setIsoLevel(isoLevel);
// Reconstruct
mc.reconstruct (mesh);
std::cout << "MarchingCubesGreedy reconstruct done"<<std::endl;
利用MarchingCubesGreedy進行曲面重建
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