PCL 点云拼接

实现两个点云的叠加 ： cloud_1 + cloud_2 = cloud_3

#include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/point_cloud.h> #include <pcl/console/time.h> #include <pcl/filters/voxel_grid.h> #include <pcl/visualization/cloud_viewer.h> using namespace std; int main() { pcl::PointCloud<pcl::PointXYZ> cloud_1; pcl::PointCloud<pcl::PointXYZ> cloud_2; pcl::console::TicToc tt; std::cerr<<"Reader...\n",tt.tic(); pcl::PCDReader reader1; reader1.read("2box.pcd",cloud_1); pcl::PCDReader reader2; reader2.read("4box.pcd",cloud_2); std::cerr<<"Done "<<tt.toc()<<" ms\n"<<std::endl; pcl::PointCloud<pcl::PointXYZ> cloud_3; cloud_3=cloud_1+cloud_2; std::cerr<<"The point cloud_1 has: "<<cloud_1.points.size()<<" points data."<<std::endl; std::cerr<<"The point cloud_2 has: "<<cloud_2.points.size()<<" points data."<<std::endl; std::cerr<<"The point cloud_3 has: "<<cloud_3.points.size()<<" points data."<<std::endl; pcl::PCDWriter writer; writer.write("6box.pcd",cloud_3); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_4(new pcl::PointCloud<pcl::PointXYZ>); pcl::PCDReader reader_3; reader_3.read("6box.pcd",*cloud_4); std::cerr<<"SorFilter...\n",tt.tic(); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>); pcl::VoxelGrid<pcl::PointXYZ> sor; sor.setInputCloud(cloud_4); sor.setLeafSize(0.01f,0.01f,0.01f); sor.filter(*cloud_filtered); std::cerr<<"Done "<<tt.toc()<<" ms.\n"<<std::endl; std::cerr<<"visualization...\n",tt.tic(); pcl::visualization::CloudViewer viewer1("3D Viewer1"); viewer1.showCloud(cloud_filtered); while(!viewer1.wasStopped()) {} std::cerr<<"Done "<<tt.toc()<<" ms.\n"<<std::endl; return 0; } #include <