FastTrangle.cpp

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/kdtree.h> // for KdTree
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/visualization/pcl_visualizer.h>

int
main ()
{

  float MaxEdge;
  float Mu;
  float MaxNeighbors;

    // prompt 
    std::cout << "最大三角形边长";
    std::cin >> MaxEdge;

    std::cout << "边长乘数";
    std::cin >> Mu;

    std::cout << "最大搜索点数";
    std::cin >> MaxNeighbors;


  // Load input file into a PointCloud<T> with an appropriate type
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PCLPointCloud2 cloud_blob;
  pcl::io::loadPCDFile ("/home/peter/Downloads/source/pcl/test/bun0.pcd", cloud_blob);
  pcl::fromPCLPointCloud2 (cloud_blob, *cloud);
  //* the data should be available in cloud

  // Normal estimation*
  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
  pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
  tree->setInputCloud (cloud);
  n.setInputCloud (cloud);
  n.setSearchMethod (tree);
  n.setKSearch (20);
  n.compute (*normals);
  //* normals should not contain the point normals + surface curvatures

  // Concatenate the XYZ and normal fields*
  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
  pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
  //* cloud_with_normals = cloud + normals

  // Create search tree*
  pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);
  tree2->setInputCloud (cloud_with_normals);

  // Initialize objects
  pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
  pcl::PolygonMesh triangles;

  // Set the maximum distance between connected points (maximum edge length)  0.025
  gp3.setSearchRadius (MaxEdge);

  // Set typical values for the parameters  2.5
  gp3.setMu (Mu);
  gp3.setMaximumNearestNeighbors (MaxNeighbors);  //100
  gp3.setMaximumSurfaceAngle(M_PI/4); // 45 degrees
  gp3.setMinimumAngle(M_PI/18); // 10 degrees
  gp3.setMaximumAngle(2*M_PI/3); // 120 degrees
  gp3.setNormalConsistency(false);

  // Get result
  gp3.setInputCloud (cloud_with_normals);
  gp3.setSearchMethod (tree2);
  gp3.reconstruct (triangles);

  // Additional vertex information
  std::vector<int> parts = gp3.getPartIDs();
  std::vector<int> states = gp3.getPointStates();

  pcl::visualization::PCLVisualizer viewer("Mesh Viewer");
  viewer.addPolygonMesh(triangles, "mesh");

    // 启动可视化循环
    while (!viewer.wasStopped())
    {
        viewer.spinOnce();
    }

  // Finish
  return (0);
}