1 #pragma warning(disable:4996)
2 #include <pcl/registration/ia_ransac.h>//采樣一致性
3 #include <pcl/point_types.h>
4 #include <pcl/point_cloud.h>
5 #include <pcl/features/normal_3d.h>
6 #include <pcl/features/fpfh.h>
7 #include <pcl/search/kdtree.h>
8 #include <pcl/io/pcd_io.h>
9 #include <pcl/io/ply_io.h>
10 #include <pcl/filters/voxel_grid.h>//
11 #include <pcl/filters/filter.h>//
12 #include <pcl/registration/icp.h>//icp配准
13 #include <pcl/visualization/pcl_visualizer.h>//可視化
14 #include <time.h>//時間
15
16 using pcl::NormalEstimation;
17 using pcl::search::KdTree;
18 typedef pcl::PointXYZ PointT;
19 typedef pcl::PointCloud<PointT> PointCloud;
20
21 //點雲可視化
22 // 顯示三個點雲
23 void visualize_pcd(PointCloud::Ptr pcd_src, PointCloud::Ptr pcd_tgt, PointCloud::Ptr pcd_final)
24 {
25
26 //創建初始化目標
27 pcl::visualization::PCLVisualizer viewer("registration Viewer");
28
29 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> src_h(pcd_src, 0, 255, 0);
30 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> tgt_h(pcd_tgt, 255, 0, 0);
31 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> final_h(pcd_final, 0, 0, 255);
32 viewer.setBackgroundColor(255, 255, 255);
33 viewer.addPointCloud(pcd_src, src_h, "source cloud");
34 viewer.addPointCloud(pcd_tgt, tgt_h, "tgt cloud");
35 viewer.addPointCloud(pcd_final, final_h, "final cloud");
36
37 while (!viewer.wasStopped())
38 {
39 viewer.spinOnce(100);
40 boost::this_thread::sleep(boost::posix_time::microseconds(100000));
41 }
42 }
43 //顯示一個點雲
44 void visualize_pcd1(PointCloud::Ptr pcd_src)
45 {
46
47 //創建初始化目標
48 pcl::visualization::PCLVisualizer viewer("registration Viewer");
49
50 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> src_h(pcd_src, 0, 255, 0);
51 viewer.setBackgroundColor(255, 255, 255);
52 viewer.addPointCloud(pcd_src, src_h, "source cloud");
53 while (!viewer.wasStopped())
54 {
55 viewer.spinOnce(100);
56 boost::this_thread::sleep(boost::posix_time::microseconds(100000));
57 }
58 }//顯示兩個點雲
59 //顯示兩個點雲
60 void visualize_pcd2(PointCloud::Ptr pcd_src, PointCloud::Ptr pcd_tgt)
61 {
62
63 //創建初始化目標
64 pcl::visualization::PCLVisualizer viewer("registration Viewer");
65
66 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> src_h(pcd_src, 0, 255, 0);
67 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> tgt_h(pcd_tgt, 255, 0, 0);
68 viewer.setBackgroundColor(255, 255, 255);
69 viewer.addPointCloud(pcd_src, src_h, "source cloud");
70 viewer.addPointCloud(pcd_tgt, tgt_h, "tgt cloud");
71
72 while (!viewer.wasStopped())
73 {
74 viewer.spinOnce(100);
75 boost::this_thread::sleep(boost::posix_time::microseconds(100000));
76 }
77 }
78 int main(int argc, char** argv)
79 {
80
81 //加載點雲文件
82 PointCloud::Ptr test1(new PointCloud);//定義點雲1
83 pcl::io::loadPLYFile("bun000.ply", *test1);//g
84 PointCloud::Ptr test2(new PointCloud);//定義點雲2
85 pcl::io::loadPLYFile("bun045.ply", *test2);//r
86 PointCloud::Ptr test3(new PointCloud);//定義點雲3
87 pcl::io::loadPLYFile("bun090.ply", *test3);//g
88
89
90 visualize_pcd(test1, test2, test3);//顯示三個
91 //visualize_pcd2(test1, test2);//顯示兩個
92 //visualize_pcd1(test1);//顯示一個
93 return (0);
94 }
