#include <iostream>
#include <pcl/io/pcd_io.h>
#include"NormalEstimation.hpp"
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
using namespace std;
int main(int argc, char** argv)
{
// -------------------------加载点云-------------------------------
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if (pcl::io::loadPCDFile("E://data//bunny.pcd", *cloud) == -1)
{
cerr << "can't read file " << endl;
return -1;
}
// ---------------------计算法向量和曲率---------------------------
pcl::PointCloud<pcl::PointNormal>::Ptr normals(new pcl::PointCloud<pcl::PointNormal>);
normals = EstimateNormals(cloud, 0.005, 30); //输入参数为：点云、邻域搜索半径和邻域最大点数
cout << "点云法向量和曲率计算完毕！！！" << endl;
pcl::io::savePCDFileBinary("normals.pcd", *normals);
//---------------------可视化（含法线）-----------------------------
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("CloudCompare-XYZNormal viewer"));
viewer->setWindowName("快速计算点云的法向量");
viewer->addText("PointNormal", 50, 50, 0, 1, 0, "v1_text");
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointNormal> fildColor(normals, "z");
viewer->addPointCloud<pcl::PointNormal>(normals, fildColor, "cloud_curvature");
viewer->addPointCloudNormals<pcl::PointNormal>(normals, 20, 0.02, "normals");
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
return 0;
}
