点云文件学习笔记15——PCL对两个点云文件进行拼接

#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/statistical_outlier_removal.h> 
#include <pcl/registration/gicp.h>
#include <pcl/registration/icp.h> 
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/registration/ia_fpcs.h> 
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/console/time.h> 

using namespace std;

int main()
{
    // 读取点云
    pcl::PointCloud<pcl::PointXYZ>::Ptr target(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile<pcl::PointXYZ>("F:\\111.pcd", *target);
    pcl::PointCloud<pcl::PointXYZ>::Ptr source(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile<pcl::PointXYZ>("F:\\222.pcd", *source);

    // 将 ICP 变换后的源点云与目标点云相加
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sum(new pcl::PointCloud<pcl::PointXYZ>());
    *cloud_sum += *target;
    *cloud_sum += *source;

    // 保存点云到文件
    pcl::io::savePCDFileBinary("F:\\12.pcd", *cloud_sum);
    std::cout << "Sum point cloud saved." << std::endl;

    pcl::visualization::PCLVisualizer viewer("Results");
    viewer.setBackgroundColor(0, 0, 0);//三个参数，分别代表红、绿、蓝颜色
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> target_color(target->makeShared(), 128, 128, 0);//类的实例 target_color，它用于自定义点云的颜色
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> result_color(cloud_sum->makeShared(), 0, 255, 0);
    viewer.addPointCloud(cloud_sum, result_color, "result_cloud");//用于

    while (!viewer.wasStopped())
    {
        viewer.spinOnce(100);
    }

    return (0);
}