possion表面重建

#include <iostream>            
#include <pcl/point_types.h> 
#include <pcl/io/ply_io.h>   
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/surface/poisson.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <fstream>

void pcd2ply();
void ply2pcd();
int possionSurfaceReconstructio();

int main(int argc, char** argv){
	possionSurfaceReconstructio();
	return (0);
}

//possion表面重建
int possionSurfaceReconstructio() {
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

	if (pcl::io::loadPCDFile("C:\\Users\\XuHui\\Desktop\\China_dragon.pcd", *cloud) == -1) {
		PCL_ERROR("Could not read pcd file!\n");
		return -1;

	}

	pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);

	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;//法线估计对象

	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);//存储估计的法线

	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);

	n.compute(*normals);

	pcl::concatenateFields(*cloud, *normals, *cloud_with_normals);

	pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);

	tree2->setInputCloud(cloud_with_normals);

	pcl::Poisson<pcl::PointNormal> pn;

	pn.setSearchMethod(tree2);

	pn.setInputCloud(cloud_with_normals);

	pn.setConfidence(false);//设置置信标志，为true时，使用法线向量长度作为置信度信息，false则需要对法线进行归一化处理

	pn.setManifold(false);//设置流行标志，如果设置为true，则对多边形进行细分三角话时添加重心，设置false则不添加

	pn.setOutputPolygons(false);//设置是否输出为多边形


	pn.setIsoDivide(8);

	pn.setSamplesPerNode(3);//设置每个八叉树节点上最少采样点数目

	pcl::PolygonMesh mesh;

	pn.performReconstruction(mesh);

	pcl::io::savePLYFile("C:\\Users\\XuHui\\Desktop\\reconstruction.ply", mesh);

	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3Dviewer"));

	viewer->setBackgroundColor(0, 0, 0);

	viewer->addPolygonMesh(mesh, "my");

	viewer->initCameraParameters();

	while (!viewer->wasStopped()) {
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	return 0;

}

void pcd2ply() {
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	// 读取点云
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("C:\\Users\\XuHui\\Desktop\\22_12_05_16_43 - Cloud.pcd", *cloud) == -1)
	{
		PCL_ERROR("输入文件不正确");
		return;
	}
	pcl::PLYWriter writer;
	writer.write("D:\\result\\Ply.ply", *cloud);
}

void ply2pcd() {
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	//加载文件
	if (pcl::io::loadPLYFile<pcl::PointXYZ>("Ply.ply", *cloud) == -1)
	{
		PCL_ERROR("输入文件不正确");
		return;
	}
	// 输出点的个数
	std::cout << "point number: " << cloud->width * cloud->height << std::endl;
	pcl::PCDWriter writer;
	writer.write("Pcd.pcd", *cloud);  
}