曲率基础知识
点云中的曲率及计算
代码实现
#include <iostream>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/principal_curvatures.h>
using namespace std;
int main(int argc, char** argv){
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("A3 - Cloud.pcd", *cloud);
cout << "Loaded " << cloud->points.size() << " points." << endl;
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
n.setInputCloud(cloud);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
n.setSearchMethod(tree);
n.setKSearch(10);
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
n.compute(*normals);
pcl::PrincipalCurvaturesEstimation<pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures> p;
p.setInputCloud(cloud);
p.setInputNormals(normals);
p.setSearchMethod(tree);
p.setKSearch(10);
pcl::PointCloud<pcl::PrincipalCurvatures>::Ptr pri(new pcl::PointCloud<pcl::PrincipalCurvatures>());
p.compute(*pri);
cout << "output points.size: " << pri->points.size() << endl;
cout << "最大曲率;" << pri->points[0].pc1 << endl;
cout << "最小曲率:" << pri->points[0].pc2 << endl;
cout << "主曲率方向;" << endl;
cout << pri->points[0].principal_curvature_x << endl;
cout << pri->points[0].principal_curvature_y << endl;
cout << pri->points[0].principal_curvature_z << endl;
return 0;
}