【PCL】教程 interactive_icp.cpp 使用ICP算法对3D点云进行准确的对齐，并通过可视化展示算法的迭代过程...-优快云博客

本文详细介绍了使用PCL库实现的迭代最近点（ICP）算法，通过示例展示了如何对3D点云进行精确对齐，以及如何通过键盘事件控制算法迭代。代码中包含加载PLY文件、定义变换、执行ICP对齐和实时可视化的过程。

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测试程序

./interactive_icp ../monkey.ply 5

终端输出：

[pcl::PLYReader::listPropertyDefinitionCallback] no fitting callbacks. element_name=face, property_name=vertex_indices
[pcl::PLYReader] monkey.ply:14: property 'list uint8 uint32 vertex_indices' of element 'face' is not handled


Loaded file monkey.ply (31488 points) in 235.44 ms


Applying this rigid transformation to: cloud_in -> cloud_icp
Rotation matrix :
    |  0.924 -0.383  0.000 |
R = |  0.383  0.924  0.000 |
    |  0.000  0.000  1.000 |
Translation vector :
t = <  0.000,  0.000,  0.400 >


Applied 5 ICP iteration(s) in 255.85 ms


ICP has converged, score is 0.0149681
ICP has converged, score is +4e-03
ICP has converged, score is +3e-03> cloud_in
ICP has converged, score is +3e-03> cloud_in
ICP has converged, score is +2e-03> cloud_in
ICP has converged, score is +2e-03> cloud_in
ICP has converged, score is +1e-03> cloud_in
ICP has converged, score is +1e-03-> cloud_in
ICP has converged, score is +9e-04-> cloud_in
ICP has converged, score is +7e-04-> cloud_in
ICP has converged, score is +5e-04-> cloud_in
ICP has converged, score is +3e-04-> cloud_in
ICP has converged, score is +2e-04-> cloud_in
ICP has converged, score is +1e-04-> cloud_in
ICP has converged, score is +5e-05-> cloud_in
ICP has converged, score is +1e-06-> cloud_in
ICP has converged, score is +2e-05-> cloud_in
ICP has converged, score is +2e-06-> cloud_in
ICP has converged, score is +1e-10-> cloud_in
ICP has converged, score is +1e-11-> cloud_in
ICP has converged, score is +4e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +4e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP transformation 36 : cloud_icp -> cloud_in
ICP transformation 37 : cloud_icp -> cloud_in
Rotation matrix :82 -0.023 | >0433 ms
    |  0.924  0.382 -0.023 | >9019 ms
R = | -0.382  0.924  0.019 | >2053 ms
    |  0.029 -0.008  1.000 | >2671 ms
Translation vector :, -0.400 >7246 ms
t = < -0.005, -0.004, -0.400 >8765 ms
Applied 1 ICP iteration in 20.0796 ms