算法原理
代码实现
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/console/time.h>
using namespace std;
int
main (int argc, char** argv)
{
pcl::console::TicToc time;
pcl::PointCloud<pcl::PointXYZ>::Ptr target_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("G.pcd", *target_cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("G1.pcd", *input_cloud);
cout << "从目标点云中读取 " << target_cloud->size() << " 个点" << endl;
cout << "从源点云中读取 " << input_cloud->size () << " 个点" << endl;
time.tic ();
int iterations = 35;
pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
icp.setInputCloud (input_cloud);
icp.setInputTarget (target_cloud);
icp.setTransformationEpsilon (1e-10);
icp.setMaxCorrespondenceDistance(100);
icp.setEuclideanFitnessEpsilon(0.1);
icp.setMaximumIterations(iterations);
pcl::PointCloud<pcl::PointXYZ>::Ptr output_cloud (new pcl::PointCloud<pcl::PointXYZ>);
icp.align (*output_cloud);
cout << "Applied " << 35 << " ICP iterations in " << time.toc() << " ms" << endl;
cout << "\nICP has converged, score is " << icp.getFitnessScore() << endl;
cout << "变换矩阵:\n" << icp.getFinalTransformation() << endl;
pcl::transformPointCloud (*input_cloud, *output_cloud, icp.getFinalTransformation ());
boost::shared_ptr<pcl::visualization::PCLVisualizer>
viewer_final (new pcl::visualization::PCLVisualizer ("配准结果"));
viewer_final->setBackgroundColor (0, 0, 0);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>
target_color (target_cloud, 255, 0, 0);
viewer_final->addPointCloud<pcl::PointXYZ> (target_cloud, target_color, "target cloud");
viewer_final->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
1, "target cloud");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>
output_color (output_cloud, 0, 255, 0);
viewer_final->addPointCloud<pcl::PointXYZ> (output_cloud, output_color, "output cloud");
viewer_final->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
1, "output cloud");
while (!viewer_final->wasStopped ())
{
viewer_final->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
return (0);
}
实验结果