可以重新写一下代码吗
时间: 2024-01-21 11:03:43 浏览: 25
当然可以,下面是重新写过的代码:
```cpp
#include <pcl/features/shot_omp.h>
#include <pcl/keypoints/harris_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/correspondence.h>
#include <iostream>
#include <vector>
int main()
{
// Load point clouds
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile("cloud1.pcd", *cloud1);
pcl::io::loadPCDFile("cloud2.pcd", *cloud2);
// Extract keypoints
pcl::HarrisKeypoint3D<pcl::PointXYZ, pcl::PointXYZI> harris;
pcl::PointCloud<pcl::PointXYZI>::Ptr keypoints1(new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZI>::Ptr keypoints2(new pcl::PointCloud<pcl::PointXYZI>);
harris.setNonMaxSupression(true);
harris.setRadius(0.05);
harris.setInputCloud(cloud1);
harris.compute(*keypoints1);
harris.setInputCloud(cloud2);
harris.compute(*keypoints2);
// Compute descriptors
pcl::SHOTColorEstimationOMP<pcl::PointXYZ, pcl::PointXYZI, pcl::SHOT1344> shot;
pcl::PointCloud<pcl::SHOT1344>::Ptr descriptors1(new pcl::PointCloud<pcl::SHOT1344>);
pcl::PointCloud<pcl::SHOT1344>::Ptr descriptors2(new pcl::PointCloud<pcl::SHOT1344>);
shot.setRadiusSearch(0.1);
shot.setInputCloud(cloud1);
shot.setInputNormals(cloud1);
shot.setSearchSurface(cloud1);
shot.setInputCloud(keypoints1);
shot.compute(*descriptors1);
shot.setInputCloud(cloud2);
shot.setInputNormals(cloud2);
shot.setSearchSurface(cloud2);
shot.setInputCloud(keypoints2);
shot.compute(*descriptors2);
// Match keypoints
pcl::CorrespondencesPtr correspondences(new pcl::Correspondences);
for (size_t i = 0; i < keypoints1->size(); ++i) {
int min_index = -1;
float min_distance = std::numeric_limits<float>::max();
for (size_t j = 0; j < keypoints2->size(); ++j) {
std::vector<int> indices_diff;
std::vector<pcl::PCLPointField> fields_diff;
pcl::getFieldDifference<pcl::SHOT1344>(*descriptors1, *descriptors2, indices_diff, fields_diff);
float distance = (float) pcl::getFieldHammingDistance(*descriptors1, *descriptors2, i, j, indices_diff, fields_diff);
if (distance < min_distance) {
min_distance = distance;
min_index = j;
}
}
if (min_index >= 0) {
pcl::Correspondence correspondence(i, min_index, min_distance);
correspondences->push_back(correspondence);
}
}
// Output matching results
std::cout << "Found " << correspondences->size() << " correspondences." << std::endl;
return 0;
}
```
这里使用了 `pcl::getFieldDifference()` 和 `pcl::getFieldHammingDistance()` 函数来计算描述子之间的汉明距离。`pcl::getFieldDifference()` 函数用于计算两个描述子之间的差异,`pcl::getFieldHammingDistance()` 函数则用于计算两个描述子之间的汉明距离。
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