#include <iostream>#include <vector>#include <math.h>using namespace std;
struct Point{
int id;
float x,y,z;
Point(int _id,float _x,float _y,float _z):id(_id),x(_x),y(_y),z(_z){
}
}
;
struct Triangle{
Point p1,p2,p3;
}
;
class PointCloud{
public: bool readFile(char *filename);
//void PointMatch(const PointCloud& pc1,const PointCloud &pc2);
vector<Point> pData;
int r,g,b;
}
;
bool PointCloud::readFile(char *filename){
if(filename==NULL)return false;
FILE *fp=fopen(filename,"r");
if (!fp) {
printf("Load file %s failedn", filename);
return false;
}
char buffer[100];
int count=0;
while(!feof(fp)) {
fgets(buffer, 300, fp);
float x,y,z;
sscanf_s(buffer,"%f%f%f",&x,&y,&z);
Point p(count++,x,y,z);
pData.push_back(p);
}
pData.pop_back();
}
float calDis(const Point &p1,const Point &p2){
return sqrt((p2.x-p1.x)*(p2.x-p1.x)+(p2.y-p1.y)*(p2.y-p1.y)+(p2.z-p1.z)*(p2.z-p1.z));
}
void PointMatch(const PointCloud& pc1,const PointCloud &pc2){
for (int i=0;
i<pc1.pData.size()-2;
++i) for(int j=i+1;
j<pc1.pData.size()-1;
++j) for (int k=j+1;
k<pc1.pData.size();
++k) {
Point p1=pc1.pData[i];
Point p2=pc1.pData[j];
Point p3=pc1.pData[k];
float s12=calDis(p1,p2);
float s13=calDis(p1,p3);
float s23=calDis(p2,p3);
for (int m=0;
m<pc2.pData.size();
++m) for (int n=0;
n<pc2.pData.size();
++n) for (int l=0;
l<pc2.pData.size();
++l) {
if (n!=m&&m!=l&&n!=l) {
Point _p1=pc2.pData[m];
Point _p2=pc2.pData[n];
Point _p3=pc2.pData[l];
float _s12=calDis(_p1,_p2);
float _s13=calDis(_p1,_p3);
float _s23=calDis(_p2,_p3);
if (fabs(s12-_s12)<0.45&&fabs(s13-_s13)<0.45&&fabs(s23-_s23)<0.45) {
cout<<"pc1....."<<p1.id<<"pc2......"<<_p1.id<<endl;
cout<<"pc1....."<<p2.id<<"pc2......"<<_p2.id<<endl;
cout<<"pc1....."<<p3.id<<"pc2......"<<_p3.id<<endl;
}
}
}
}
}
int main(){
char *file1="测试点云\点云Mark0.txt";
char *file2="测试点云\点云Mark1.txt";
PointCloud pc1,pc2;
pc1.readFile(file1);
pc2.readFile(file2);
PointMatch(pc1,pc2);
}