1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
|
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
int
main (int argc, char** argv)
{
// Load input file into a PointCloud<T> with an appropriate type
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
// Load bun0.pcd -- should be available with the PCL archive in test
pcl::io::loadPCDFile ("bun0.pcd", *cloud);
// Create a KD-Tree
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
// Output has the PointNormal type in order to store the normals calculated by MLS
pcl::PointCloud<pcl::PointNormal> mls_points;
// Init object (second point type is for the normals, even if unused)
pcl::MovingLeastSquares<pcl::PointXYZ, pcl::PointNormal> mls;
mls.setComputeNormals (true);
// Set parameters
mls.setInputCloud (cloud);
mls.setPolynomialFit (true);
mls.setSearchMethod (tree);
mls.setSearchRadius (0.03);
// Reconstruct
mls.process (mls_points);
// Save output
pcl::io::savePCDFile ("bun0-mls.pcd", mls_points);
}
|
