标签:estimation context normal 3DSC shape pcl include PCL 3D
介绍:3DSC
包含XYZ字段即可,代码如下:
#include <iostream>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/features/3dsc.h>
#include <pcl/features/impl/3dsc.hpp>
#include <pcl/features/normal_3d.h>
int
main (int, char** argv)
{
std::string filename = argv[1];
std::cout << "Reading " << filename << std::endl;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
if (pcl::io::loadPCDFile <pcl::PointXYZ> (filename.c_str (), *cloud) == -1)
// load the file
{
PCL_ERROR ("Couldn't read file");
return (-1);
}
std::cout << "Loaded " << cloud->points.size () << " points." << std::endl;
// Compute the normals
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimation;
normal_estimation.setInputCloud (cloud);
pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree (new pcl::search::KdTree<pcl::PointXYZ>);
normal_estimation.setSearchMethod (kdtree);
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud< pcl::Normal>);
normal_estimation.setRadiusSearch (0.03);
normal_estimation.compute (*normals);
// Setup the shape context computation
pcl::ShapeContext3DEstimation<pcl::PointXYZ, pcl::Normal, pcl::ShapeContext1980> shape_context;
// Provide the point cloud
shape_context.setInputCloud (cloud);
// Provide normals
shape_context.setInputNormals (normals);
// Use the same KdTree from the normal estimation
shape_context.setSearchMethod (kdtree);
pcl::PointCloud<pcl::ShapeContext1980>::Ptr shape_context_features (new pcl::PointCloud<pcl::ShapeContext1980>);
// The minimal radius is generally set to approx. 1/10 of the search radius, while the pt. density radius is generally set to 1/5
shape_context.setRadiusSearch (0.2);
shape_context.setPointDensityRadius (0.04);
shape_context.setMinimalRadius (0.02);
// Actually compute the shape contexts
shape_context.compute (*shape_context_features);
std::cout << "3DSC output points.size (): " << shape_context_features->points.size () << std::endl;
// Display and retrieve the shape context descriptor vector for the 0th point.
std::cout << shape_context_features->points[0] << std::endl;
//float* first_descriptor = shape_context_features->points[0].descriptor; // 1980 elements
return 0;
}
来源:PCL官方示例
标签:estimation,context,normal,3DSC,shape,pcl,include,PCL,3D 来源: https://blog.csdn.net/com1098247427/article/details/120688665
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