PCL Preliminary use

Reprint: http://blog.csdn.net/vbskj/article/details/7819828

The purpose of this experiment is to reconstruct the terrain point cloud data and display it using PCL library. The overall process is 1) to import the DEM data into the PCL data format. pcd file; 2) carry out the normal vector estimation; 3) reconstruct the surface; 4) three-dimensional display.

1) write to the PCD file

First open the C:\Program files\pcl1.6.0\share\doc\pcl-1.6\tutorials\sources under the Pcd_write project, the opposite of the program to modify, the DEM data (x, Y, z) into the PCL:: POINTCLOUD<PCL::P the ointxyz>cloud member variable.

A TEST.PCD file is generated.

You can then use the Cloud_viewer compiled program in the same directory to view the TEST.PCD file, or take advantage of the Pcd_viewer in the PCL installation directory bin directory. For pcd_viewer usage, you can then press "H" in the window and view it on the command line. The main use is "R": Reset View, "G" appears on the axis, "alt+-/+" to zoom and so on.

2) using Pcl_normal_estimation.exe in the installation directory bin to estimate the normal vector of the lattice, the instructions are as follows: PCL_NORMAL_ESTIMATION_RELEASE.EXETEST.PCD test1.pcd–k 3. The following-K refers to the number of elements using the K-neighborhood.

At the end of the estimate, use Pcd_viewer to view it without distinction. However, with Utraledit, we find that there are several columns behind TEST1.PCD, which represent the XYZ value and curvature of the vector, respectively.

3) Surface reconstruction

Using Pcl_poisson_reconstruction_release.exe in the installation directory bin to reconstruct the test1.pcd surface, you can see the XYZ, curvature and normal vector information in the PCD file from the command line as follows: Pcl_ Poisson_reconstruction_release.exe TEST1.PCD TEST1.VTK

4) Download ParaView software from the Internet to view TEST1.VTK. (First, click on the "Properties" tab of the "ParaView" button, and then go through the following two tabs for color, size, display mode settings, you can open more than one VTK file for viewing)

PCL Preliminary use