PCL 三维点云边界提取（C++详细过程版）.rar

#include <pcl/io/pcd_io.h> #include "BoundaryEstimation.hpp" int main() { // --------------------------------读取点云------------------------------------ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); if (pcl::io::loadPCDFile<pcl::PointXYZ>("E://data//飞机.pcd", *cloud) == -1) { PCL_ERROR("Cloudn't read file!"); return -1; } // --------------------------------提取边界----------------------------------- BoundaryEstimation be; auto boundaryIndices = be.boundary_detection(cloud, 0.02, M_PI / 2); pcl::PointCloud<pcl::PointXYZ>::Ptr boundaryCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::copyPointCloud(*cloud, boundaryIndices, *boundaryCloud); // --------------------------------保存边界----------------------------------- pcl::io::savePCDFileBinary("boundaryCloud.pcd", *boundaryCloud); return 0; }