PCL移动立方体MarchingCubes

介绍：MC
代码如下：

#include <pcl/PCLPointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_io.h>
#include <pcl/surface/marching_cubes_hoppe.h>
#include <pcl/surface/marching_cubes_rbf.h>
#include<pcl\features\normal_3d.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;float default_iso_level = 0.0f;
int default_hoppe_or_rbf = 0;
float default_extend_percentage = 0.0f;
int default_grid_res = 50;
float default_off_surface_displacement = 0.01f;void
printHelp (int, char **argv)
{print_error ("Syntax is: %s input.pcd output.vtk <options>\n", argv[0]);print_info ("  where options are:\n");print_info ("                     -grid_res X     = the resolution of the grid (cubic grid) (default: ");print_value ("%d", default_grid_res); print_info (")\n");print_info ("                     -iso_level X    = the iso level of the surface to be extracted (default: ");print_value ("%f", default_iso_level); print_info (")\n");print_info ("                     -hoppe X        = use the Hoppe signed distance function (MarchingCubesHoppe\n");print_info ("                     -rbf X          = use the RBF signed distance function (MarchingCubesRBF\n");print_info ("                     -extend X       = the percentage of the bounding box to extend the grid by (default: ");print_value ("%f", default_extend_percentage); print_info (")\n");print_info ("                     -displacement X = the displacement value for the off-surface points (only for RBF) (default: ");print_value ("%f", default_off_surface_displacement); print_info (")\n");
}bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{TicToc tt;print_highlight ("Loading "); print_value ("%s ", filename.c_str ());tt.tic ();if (loadPCDFile (filename, cloud) < 0)return (false);print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());return (true);
}void
compute (const pcl::PCLPointCloud2::ConstPtr &input, PolygonMesh &output,int hoppe_or_rbf, float iso_level, int grid_res, float extend_percentage, float off_surface_displacement)
{PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());fromPCLPointCloud2 (*input, *cloud);pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);tree->setInputCloud(cloud);ne.setInputCloud(cloud);ne.setRadiusSearch(0.02);ne.setSearchMethod(tree);pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);ne.compute(*normals);pcl::PointCloud<pcl::PointNormal>::Ptr xyz_cloud(new pcl::PointCloud<pcl::PointNormal>);pcl::concatenateFields(*cloud, *normals, *xyz_cloud);MarchingCubes<PointNormal> *mc;if (hoppe_or_rbf == 0)mc = new MarchingCubesHoppe<PointNormal> ();else{mc = new MarchingCubesRBF<PointNormal> ();(reinterpret_cast<MarchingCubesRBF<PointNormal>*> (mc))->setOffSurfaceDisplacement (off_surface_displacement);}mc->setIsoLevel (iso_level);mc->setGridResolution (grid_res, grid_res, grid_res);mc->setPercentageExtendGrid (extend_percentage);mc->setInputCloud (xyz_cloud);TicToc tt;tt.tic ();print_highlight ("Computing ");mc->reconstruct (output);delete mc;print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms]\n");
}void
saveCloud (const std::string &filename, const PolygonMesh &output)
{TicToc tt;tt.tic ();print_highlight ("Saving "); print_value ("%s ", filename.c_str ());saveVTKFile (filename, output);print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms]\n");
}/* ---[ */
int
main (int argc, char** argv)
{print_info ("Compute the surface reconstruction of a point cloud using the marching cubes algorithm (pcl::surface::MarchingCubesHoppe or pcl::surface::MarchingCubesRBF. For more information, use: %s -h\n", argv[0]);if (argc < 3){printHelp (argc, argv);return (-1);}// Parse the command line arguments for .pcd filesstd::vector<int> pcd_file_indices;pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");if (pcd_file_indices.size () != 1){print_error ("Need one input PCD file and one output VTK file to continue.\n");return (-1);}std::vector<int> vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");if (vtk_file_indices.size () != 1){print_error ("Need one output VTK file to continue.\n");return (-1);}// Command line parsingint hoppe_or_rbf = default_hoppe_or_rbf;bool ok = false;parse_argument (argc, argv, "-hoppe", ok);if (ok){hoppe_or_rbf = 0;print_info ("Selected algorithm: MarchingCubesHoppe\n");}ok = false;parse_argument (argc, argv, "-rbf", ok);if (ok){hoppe_or_rbf = 1;print_info ("Selected algorithm: MarchingCubesRBF\n");}float iso_level = default_iso_level;parse_argument (argc, argv, "-iso_level", iso_level);print_info ("Setting an iso level of: "); print_value ("%f\n", iso_level);int grid_res = default_grid_res;parse_argument (argc, argv, "-grid_res", grid_res);print_info ("Setting a cubic grid resolution of: "); print_value ("%d\n", grid_res);float extend_percentage = default_extend_percentage;parse_argument (argc, argv, "-extend", extend_percentage);print_info ("Setting an extend percentage of: "); print_value ("%f\n", extend_percentage);float off_surface_displacement = default_off_surface_displacement;parse_argument (argc, argv, "-displacement", off_surface_displacement);print_info ("Setting an off-surface displacement of: "); print_value ("%f\n", off_surface_displacement);// Load the first filepcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);if (!loadCloud (argv[pcd_file_indices[0]], *cloud))return (-1);// Apply the marching cubes algorithmPolygonMesh output;compute (cloud, output, hoppe_or_rbf, iso_level, grid_res, extend_percentage, off_surface_displacement);// Save into the second filesaveCloud (argv[vtk_file_indices[0]], output);
}

来源：PCL官方示例

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