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| #include <pcl/point_types.h> #include <pcl/io/pcd_io.h> #include <pcl/io/ply_io.h> #include <pcl/kdtree/kdtree_flann.h> #include <pcl/features/normal_3d.h> #include <pcl/surface/marching_cubes_hoppe.h> #include <pcl/surface/marching_cubes_rbf.h> #include <pcl/surface/gp3.h> #include <pcl/visualization/pcl_visualizer.h> #include <boost/thread/thread.hpp> #include <fstream> #include <iostream> #include <stdio.h> #include <string.h> #include <string>
int main (int argc, char** argv) { char tmpStr[100]; strcpy(tmpStr,argv[1]); char* pext = strrchr(tmpStr, '.'); std::string extply("ply"); std::string extpcd("pcd"); if(pext){ *pext='\0'; pext++; } std::string ext(pext); if (!((ext == extply)||(ext == extpcd))){ std::cout << "文件格式不支持!" << std::endl; std::cout << "支持文件格式:*.pcd和*.ply!" << std::endl; return(-1); }
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>) ; if (ext == extply){ if (pcl::io::loadPLYFile(argv[1] , *cloud) == -1){ PCL_ERROR("Could not read ply file!\n") ; return -1; } } else{ if (pcl::io::loadPCDFile(argv[1] , *cloud) == -1){ PCL_ERROR("Could not read pcd file!\n") ; return -1; } }
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n; pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>); 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::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>); 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::MarchingCubes<pcl::PointNormal> *mc; mc = new pcl::MarchingCubesHoppe<pcl::PointNormal> ();
pcl::PolygonMesh mesh;
mc->setIsoLevel (0.0f); mc->setGridResolution (50, 50, 50); mc->setPercentageExtendGrid (0.0f);
mc->setInputCloud (cloud_with_normals);
mc->reconstruct (mesh); pcl::io::savePLYFile("result.ply", mesh);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); viewer->setBackgroundColor (0, 0, 0); viewer->addPolygonMesh(mesh,"my"); viewer->addCoordinateSystem (1.0); viewer->initCameraParameters (); while (!viewer->wasStopped ()){ viewer->spinOnce (100); boost::this_thread::sleep (boost::posix_time::microseconds (100000)); }
return (0); }
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