2015.10.5 SAC-IA点云配准

最新推荐文章于 2025-07-09 15:48:34 发布

lgdnr

最新推荐文章于 2025-07-09 15:48:34 发布

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本文链接：https://blog.youkuaiyun.com/lgdnr/article/details/48917481

该博客介绍了一个使用PCL库进行3D点云配准和模板对齐的程序。通过计算表面法线和局部特征，使用SAC-IA算法进行初始对齐，并找到最佳模板对齐。涉及PCL的点云预处理、特征提取和SAC-IA算法的实现。

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#include <limits>
#include <fstream>
#include <vector>
#include <Eigen/Core>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/fpfh.h>
#include <pcl/registration/ia_ransac.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>

class FeatureCloud
{
public:
    // A bit of shorthand
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
    typedef pcl::PointCloud<pcl::Normal> SurfaceNormals;
    typedef pcl::PointCloud<pcl::FPFHSignature33> LocalFeatures;
    typedef pcl::search::KdTree<pcl::PointXYZ> SearchMethod;

    FeatureCloud () :
      search_method_xyz_ (new SearchMethod),
      normal_radius_ (0.02f),
      feature_radius_ (0.02f)
    {}

~FeatureCloud () {}

    // Process the given cloud
    void
    setInputCloud (PointCloud::Ptr xyz)
    {
      xyz_ = xyz;
      processInput ();
    }

    // Load and process the cloud in the given PCD file
    void
    loadInputCloud (const std::string &pcd_file)
    {
      xyz_ = PointCloud::Ptr (new PointCloud);
      pcl::io::loadPCDFile (pcd_file, *xyz_);
      processInput ();
    }

    // Get a pointer to the cloud 3D points
    PointCloud::Ptr
    getPointCloud () const
    {
      return (xyz_);
    }

    // Get a pointer to the cloud of 3D surface normals
    SurfaceNormals::Ptr
    getSurfaceNormals () const
    {
      return (normals_);
    }

    // Get a pointer to the cloud of feature descriptors
    LocalFeatures::Ptr
    getLocalFeatures () const
    {
      return (features_);
    }

protected:
    // Compute the surface normals and local features
    void
    processInput ()
    {
      computeSurfaceNormals ();
      computeLocalFeatures ();
    }

    // Compute the surface normals
    void
    computeSurfaceNormals ()
    {
      normals_ = SurfaceNormals::Ptr (new SurfaceNormals);

pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> norm_est;
&n