PCL 3D点云没有表面信息转换成网格地图之后可以构建出法线、纹理等信息。先看一下输入的3D点云运行程序后会显示生成的网格地图如下图所示看一下放大后的局部对比输入点云放大后每个点还是孤立的小方块。输出的网格地图已经是一个平面了。输入map.pcd 3D点云地图输出没有保存输出结果运行编译后在cmd里才能运行需要1个参数输入的3D点云地图示例program.exe map.pcd视频演示https://www.bilibili.com/video/BV1RMdcBwEUC/代码#include pcl/point_cloud.h #include pcl/point_types.h #include pcl/io/pcd_io.h #include pcl/visualization/pcl_visualizer.h #include pcl/kdtree/kdtree_flann.h #include pcl/surface/surfel_smoothing.h #include pcl/surface/mls.h #include pcl/surface/gp3.h #include pcl/surface/impl/mls.hpp // typedefs typedef pcl::PointXYZRGB PointT; typedef pcl::PointCloudPointT PointCloud; typedef pcl::PointCloudPointT::Ptr PointCloudPtr; typedef pcl::PointXYZRGBNormal SurfelT; typedef pcl::PointCloudSurfelT SurfelCloud; typedef pcl::PointCloudSurfelT::Ptr SurfelCloudPtr; SurfelCloudPtr reconstructSurface( const PointCloudPtr input, float radius, int polynomial_order) { pcl::MovingLeastSquaresPointT, SurfelT mls; pcl::search::KdTreePointT::Ptr tree(new pcl::search::KdTreePointT); mls.setSearchMethod(tree); mls.setSearchRadius(radius); mls.setComputeNormals(true); mls.setSqrGaussParam(radius * radius); mls.setPolynomialFit(polynomial_order 1); mls.setPolynomialOrder(polynomial_order); mls.setInputCloud(input); SurfelCloudPtr output(new SurfelCloud); mls.process(*output); return (output); } pcl::PolygonMeshPtr triangulateMesh(const SurfelCloudPtr surfels) { // Create search tree* pcl::search::KdTreeSurfelT::Ptr tree(new pcl::search::KdTreeSurfelT); tree-setInputCloud(surfels); // Initialize objects pcl::GreedyProjectionTriangulationSurfelT gp3; pcl::PolygonMeshPtr triangles(new pcl::PolygonMesh); // Set the maximum distance between connected points (maximum edge length) gp3.setSearchRadius(0.05); // Set typical values for the parameters gp3.setMu(2.5); gp3.setMaximumNearestNeighbors(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(true); // Get result gp3.setInputCloud(surfels); gp3.setSearchMethod(tree); gp3.reconstruct(*triangles); return triangles; } int main(int argc, char **argv) { // Load the points PointCloudPtr cloud(new PointCloud); if (argc 0 || pcl::io::loadPCDFile(argv[1], *cloud)) { cout failed to load point cloud!; return 1; } cout point cloud loaded, points: cloud-points.size() endl; // Compute surface elements cout computing normals ... endl; double mls_radius 0.05, polynomial_order 2; auto surfels reconstructSurface(cloud, mls_radius, polynomial_order); // Compute a greedy surface triangulation cout computing mesh ... endl; pcl::PolygonMeshPtr mesh triangulateMesh(surfels); cout display mesh ... endl; pcl::visualization::PCLVisualizer vis; vis.addPolylineFromPolygonMesh(*mesh, mesh frame); vis.addPolygonMesh(*mesh, mesh); vis.resetCamera(); vis.spin(); }参考高翔《视觉SLAM十四讲》P333页附近