Use GridProjection to construct surface

最新推荐文章于 2023-10-23 15:11:20 发布

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本文详细介绍了点云数据的法线估计、点云融合、网格重建等关键步骤，通过使用Kd树搜索方法和点云特征整合，实现从原始点云到高质量三维网格的高效转换。

	// 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;