pcl::PCLPointCloud2 cloud;int version;Eigen::Vector4f origin;Eigen::Quaternionf orientation;pcl::PCDReader r;int type; unsigned int idx;//读取PCD文件的头的基本信息/*（in）path.string ()文件名cloud 点云数据集  origin传感器的采集中心点 orientation传感器的方位 version为PCD版本type数据类型（0 = ASCII，1 =二进制，2 =二进制压缩）(in)idx为在文件内的偏移点云数据*/r.readHeader (path.string (), cloud, origin, orientation, version, type, idx);

# .PCD v.7 - Point Cloud Data file format   注释掉说明这是关于点云的文件格式
VERSION .7                                 PCD文件的版本号
FIELDS x y z rgb u v vx vy vz normal_x normal_y normal_z curvature   文件中点云的维度数
SIZE 4 4 4 4 4 4 4 4 4 4 4 4 4         每个维度数据的大小
TYPE F F F F F F F F F F F F F         数据的类型
COUNT 1 1 1 1 1 1 1 1 1 1 1 1 1
WIDTH 3484                             点云大小
HEIGHT 1                               无序点云
VIEWPOINT 0 0 0 1 0 0 0                 视点
POINTS 3484                             大小
DATA ascii                              数据
-0.0042959 -0.041022 0.97549 7.3757e-39 275 261 0 0 0 -0.15142 0.63581 -0.75685 0.018435
-0.0031521 -0.040989 0.97472 7.0991e-39 276 261 0 0 0 -0.12262 0.63448 -0.76315 0.017282
-0.0042959 -0.03988 0.97549 5.9927e-39 299 261 0 0 0 -0.15385 0.62475 -0.76552 0.017079
-0.0020133 -0.03988 0.97549 5.3473e-39 347 261 0 0 0 -0.11114 0.62014 -0.77658 0.015706
-0.00087171 -0.039294 0.9751 5.6239e-39 277.5 261.5 0 0 0 -0.089597 0.61557 -0.78297 0.015285

# .PCD v.6 - Point Cloud Data file format
FIELDS vfh
SIZE 4
TYPE F
COUNT 308
WIDTH 1
HEIGHT 1
POINTS 1
DATA ascii
0 0 0 0 0 0 0 0 0.086133 0.31582 ........................................................

#include <pcl/point_types.h> //点云的类型
#include <pcl/point_cloud.h>
#include <pcl/console/parse.h>
#include <pcl/console/print.h>
#include <pcl/io/pcd_io.h>
#include <boost/filesystem.hpp>
#include <flann/flann.h>
#include <flann/io/hdf5.h>
#include <fstream>
//pair的成员有两个first second两个，很明显第一个vfh_model.first就是std::string //vfh_model.second就是存入的float的变量
typedef std::pair<std::string, std::vector<float> > vfh_model;//用于存储VFH模型的容器/** \brief Loads an n-D histogram file as a VFH signature 以VFH作为特征直方图* \param path the input file name 输入的文件的名称* \param vfh the resultant VFH model  //VFH的模型*/
bool
loadHist (const boost::filesystem::path &path, vfh_model &vfh)
{int vfh_idx;// Load the file as a PCDtry{pcl::PCLPointCloud2 cloud;int version;Eigen::Vector4f origin;      //中心float的向量Eigen::Quaternionf orientation; //方向
    pcl::PCDReader r;int type;   unsigned int idx;r.readHeader (path.string (), cloud, origin, orientation, version, type, idx);vfh_idx = pcl::getFieldIndex (cloud, "vfh");if (vfh_idx == -1)return (false);if ((int)cloud.width * cloud.height != 1) //点的数目不为0return (false);}catch (const pcl::InvalidConversionException&)  //抛出异常
  {return (false);}// Treat the VFH signature as a single Point Cloud把相应的VFH特征代表单个点云pcl::PointCloud <pcl::VFHSignature308> point;  //申明VFH 的点云pcl::io::loadPCDFile (path.string (), point); vfh.second.resize (308); //因为VFH有308个数据
std::vector <pcl::PCLPointField> fields;pcl::getFieldIndex (point, "vfh", fields);for (size_t i = 0; i < fields[vfh_idx].count; ++i){vfh.second[i] = point.points[0].histogram[i]; //每个点的直方图
  }vfh.first = path.string ();return (true);
}/** \brief Load a set of VFH features that will act as the model (training data)  //以VFH特征作为模型的训练数据集* \param argc the number of arguments (pass from main ())   //输入参数的个数* \param argv the actual command line arguments (pass from main ())* \param extension the file extension containing the VFH features  文件名的后缀* \param models the resultant vector of histogram models  //特征模型的直方图向量*/
void
loadFeatureModels (const boost::filesystem::path &base_dir, const std::string &extension, std::vector<vfh_model> &models)
{if (!boost::filesystem::exists (base_dir) && !boost::filesystem::is_directory (base_dir))return;for (boost::filesystem::directory_iterator it (base_dir); it != boost::filesystem::directory_iterator (); ++it)  //对文件下每一个VFH的PCD文件计数
  {if (boost::filesystem::is_directory (it->status ())){std::stringstream ss;  //输入ss << it->path ();pcl::console::print_highlight ("Loading %s (%lu models loaded so far).\n", ss.str ().c_str (), (unsigned long)models.size ());loadFeatureModels (it->path (), extension, models);}if (boost::filesystem::is_regular_file (it->status ()) && boost::filesystem::extension (it->path ()) == extension){vfh_model m;if (loadHist (base_dir / it->path ().filename (), m))models.push_back (m);  //装进容器中
    }}
}int
main (int argc, char** argv)
{if (argc < 2) //对输入命令行的解析
  {PCL_ERROR ("Need at least two parameters! Syntax is: %s [model_directory] [options]\n", argv[0]);return (-1);}std::string extension (".pcd");transform (extension.begin (), extension.end (), extension.begin (), (int(*)(int))tolower);std::string kdtree_idx_file_name = "kdtree.idx";  std::string training_data_h5_file_name = "training_data.h5";std::string training_data_list_file_name = "training_data.list";std::vector<vfh_model> models;  //VFH的模型// Load the model histograms 载入模型的直方图loadFeatureModels (argv[1], extension, models);pcl::console::print_highlight ("Loaded %d VFH models. Creating training data %s/%s.\n", (int)models.size (), training_data_h5_file_name.c_str (), training_data_list_file_name.c_str ());// Convert data into FLANN format  把数据转为FLANN格式flann::Matrix<float> data (new float[models.size () * models[0].second.size ()], models.size (), models[0].second.size ());for (size_t i = 0; i < data.rows; ++i)for (size_t j = 0; j < data.cols; ++j)data[i][j] = models[i].second[j];// Save data to disk (list of models)保存数据集到本地flann::save_to_file (data, training_data_h5_file_name, "training_data");std::ofstream fs;fs.open (training_data_list_file_name.c_str ());   //打开训练数据集的文件for (size_t i = 0; i < models.size (); ++i)fs << models[i].first << "\n";fs.close ();// Build the tree index and save it to disk  建立树索引并保存pcl::console::print_error ("Building the kdtree index (%s) for %d elements...\n", kdtree_idx_file_name.c_str (), (int)data.rows);flann::Index<flann::ChiSquareDistance<float> > index (data, flann::LinearIndexParams ());//flann::Index<flann::ChiSquareDistance<float> > index (data, flann::KDTreeIndexParams (4));
  index.buildIndex ();index.save (kdtree_idx_file_name);delete[] data.ptr ();return (0);
}

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>
#include <pcl/console/print.h>
#include <pcl/io/pcd_io.h>
#include <iostream>
#include <flann/flann.h>
#include <flann/io/hdf5.h>
#include <boost/filesystem.hpp>typedef std::pair<std::string, std::vector<float> > vfh_model;/** \brief Loads an n-D histogram file as a VFH signature* \param path the input file name* \param vfh the resultant VFH model*/
bool
loadHist (const boost::filesystem::path &path, vfh_model &vfh)
{int vfh_idx;// Load the file as a PCDtry{pcl::PCLPointCloud2 cloud;int version;Eigen::Vector4f origin;Eigen::Quaternionf orientation;pcl::PCDReader r;int type; unsigned int idx;//读取PCD文件的头的基本信息/*（in）path.string ()文件名cloud 点云数据集  origin传感器的采集中心点 orientation传感器的方位 version为PCD版本type数据类型（0 = ASCII，1 =二进制，2 =二进制压缩）(in)idx为在文件内的偏移点云数据*/r.readHeader (path.string (), cloud, origin, orientation, version, type, idx);vfh_idx = pcl::getFieldIndex (cloud, "vfh");if (vfh_idx == -1)return (false);if ((int)cloud.width * cloud.height != 1)return (false);}catch (const pcl::InvalidConversionException&){return (false);}// Treat the VFH signature as a single Point Cloudpcl::PointCloud <pcl::VFHSignature308> point;pcl::io::loadPCDFile (path.string (), point);vfh.second.resize (308);std::vector <pcl::PCLPointField> fields;getFieldIndex (point, "vfh", fields);for (size_t i = 0; i < fields[vfh_idx].count; ++i){vfh.second[i] = point.points[0].histogram[i];}vfh.first = path.string ();return (true);
}/** \brief Search for the closest k neighbors搜索最近的K邻域* \param index the tree    树 的索引* \param model the query model  //给定的模型* \param k the number of neighbors to search for* \param indices the resultant neighbor indices* \param distances the resultant neighbor distances*/
inline void
nearestKSearch (flann::Index<flann::ChiSquareDistance<float> > &index, const vfh_model &model, int k, flann::Matrix<int> &indices, flann::Matrix<float> &distances)
{// Query point  给定的点云flann::Matrix<float> p = flann::Matrix<float>(new float[model.second.size ()], 1, model.second.size ());memcpy (&p.ptr ()[0], &model.second[0], p.cols * p.rows * sizeof (float));indices = flann::Matrix<int>(new int[k], 1, k);distances = flann::Matrix<float>(new float[k], 1, k);index.knnSearch (p, indices, distances, k, flann::SearchParams (512));delete[] p.ptr ();
}/** \brief Load the list of file model names from an ASCII file  载入模型文件名* \param models the resultant list of model name* \param filename the input file name*/
bool
loadFileList (std::vector<vfh_model> &models, const std::string &filename)
{ifstream fs;fs.open (filename.c_str ());if (!fs.is_open () || fs.fail ())return (false);std::string line;while (!fs.eof ()){getline (fs, line);if (line.empty ())continue;vfh_model m;m.first = line;models.push_back (m);}fs.close ();return (true);
}int
main (int argc, char** argv)
{int k = 6;double thresh = DBL_MAX;     // No threshold, disabled by defaultif (argc < 2){pcl::console::print_error ("Need at least three parameters! Syntax is: %s <query_vfh_model.pcd> [options] {kdtree.idx} {training_data.h5} {training_data.list}\n", argv[0]);pcl::console::print_info ("    where [options] are:  -k      = number of nearest neighbors to search for in the tree (default: "); pcl::console::print_value ("%d", k); pcl::console::print_info (")\n");pcl::console::print_info ("                          -thresh = maximum distance threshold for a model to be considered VALID (default: "); pcl::console::print_value ("%f", thresh); pcl::console::print_info (")\n\n");return (-1);}std::string extension (".pcd");transform (extension.begin (), extension.end (), extension.begin (), (int(*)(int))tolower);// Load the test histogram   载入测试的直方图std::vector<int> pcd_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");vfh_model histogram;if (!loadHist (argv[pcd_indices.at (0)], histogram)){pcl::console::print_error ("Cannot load test file %s\n", argv[pcd_indices.at (0)]);return (-1);}pcl::console::parse_argument (argc, argv, "-thresh", thresh);// Search for the k closest matches  设置K邻域的个数pcl::console::parse_argument (argc, argv, "-k", k);pcl::console::print_highlight ("Using "); pcl::console::print_value ("%d", k); pcl::console::print_info (" nearest neighbors.\n");std::string kdtree_idx_file_name = "kdtree.idx";std::string training_data_h5_file_name = "training_data.h5";std::string training_data_list_file_name = "training_data.list";std::vector<vfh_model> models;flann::Matrix<int> k_indices;    //索引flann::Matrix<float> k_distances;  //距离flann::Matrix<float> data;   // Check if the data has already been saved to diskif (!boost::filesystem::exists ("training_data.h5") || !boost::filesystem::exists ("training_data.list")){pcl::console::print_error ("Could not find training data models files %s and %s!\n", training_data_h5_file_name.c_str (), training_data_list_file_name.c_str ());return (-1);}else{loadFileList (models, training_data_list_file_name);  //载入模型的文件名flann::load_from_file (data, training_data_h5_file_name, "training_data");pcl::console::print_highlight ("Training data found. Loaded %d VFH models from %s/%s.\n", (int)data.rows, training_data_h5_file_name.c_str (), training_data_list_file_name.c_str ());}// Check if the tree index has already been saved to diskif (!boost::filesystem::exists (kdtree_idx_file_name)){pcl::console::print_error ("Could not find kd-tree index in file %s!", kdtree_idx_file_name.c_str ());return (-1);}else{flann::Index<flann::ChiSquareDistance<float> > index (data, flann::SavedIndexParams ("kdtree.idx"));index.buildIndex ();nearestKSearch (index, histogram, k, k_indices, k_distances);  //搜索K邻域
  }// Output the results on screenpcl::console::print_highlight ("The closest %d neighbors for %s are:\n", k, argv[pcd_indices[0]]);for (int i = 0; i < k; ++i)pcl::console::print_info ("    %d - %s (%d) with a distance of: %f\n", i, models.at (k_indices[0][i]).first.c_str (), k_indices[0][i], k_distances[0][i]);// Load the results可视化结果pcl::visualization::PCLVisualizer p (argc, argv, "VFH Cluster Classifier");int y_s = (int)floor (sqrt ((double)k));int x_s = y_s + (int)ceil ((k / (double)y_s) - y_s);double x_step = (double)(1 / (double)x_s);double y_step = (double)(1 / (double)y_s);pcl::console::print_highlight ("Preparing to load "); pcl::console::print_value ("%d", k); pcl::console::print_info (" files ("); pcl::console::print_value ("%d", x_s);    pcl::console::print_info ("x"); pcl::console::print_value ("%d", y_s); pcl::console::print_info (" / ");pcl::console::print_value ("%f", x_step); pcl::console::print_info ("x"); pcl::console::print_value ("%f", y_step); pcl::console::print_info (")\n");int viewport = 0, l = 0, m = 0;for (int i = 0; i < k; ++i){std::string cloud_name = models.at (k_indices[0][i]).first;boost::replace_last (cloud_name, "_vfh", "");p.createViewPort (l * x_step, m * y_step, (l + 1) * x_step, (m + 1) * y_step, viewport);l++;if (l >= x_s){l = 0;m++;}pcl::PCLPointCloud2 cloud;pcl::console::print_highlight (stderr, "Loading "); pcl::console::print_value (stderr, "%s ", cloud_name.c_str ());if (pcl::io::loadPCDFile (cloud_name, cloud) == -1)break;// Convert from blob to PointCloudpcl::PointCloud<pcl::PointXYZ> cloud_xyz;pcl::fromPCLPointCloud2 (cloud, cloud_xyz);if (cloud_xyz.points.size () == 0)break;pcl::console::print_info ("[done, "); pcl::console::print_value ("%d", (int)cloud_xyz.points.size ()); pcl::console::print_info (" points]\n");pcl::console::print_info ("Available dimensions: "); pcl::console::print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());// Demean the cloud
    Eigen::Vector4f centroid;pcl::compute3DCentroid (cloud_xyz, centroid);//Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector. pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz_demean (new pcl::PointCloud<pcl::PointXYZ>);pcl::demeanPointCloud<pcl::PointXYZ> (cloud_xyz, centroid, *cloud_xyz_demean);// Add to renderer*
    p.addPointCloud (cloud_xyz_demean, cloud_name, viewport);// Check if the model found is within our inlier tolerance
    std::stringstream ss;ss << k_distances[0][i];if (k_distances[0][i] > thresh){p.addText (ss.str (), 20, 30, 1, 0, 0, ss.str (), viewport);  // display the text with red// Create a red line
      pcl::PointXYZ min_p, max_p;pcl::getMinMax3D (*cloud_xyz_demean, min_p, max_p);std::stringstream line_name;line_name << "line_" << i;p.addLine (min_p, max_p, 1, 0, 0, line_name.str (), viewport);p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 5, line_name.str (), viewport);}elsep.addText (ss.str (), 20, 30, 0, 1, 0, ss.str (), viewport);// Increase the font size for the score*p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_FONT_SIZE, 18, ss.str (), viewport);// Add the cluster namep.addText (cloud_name, 20, 10, cloud_name, viewport);}// Add coordianate systems to all viewportsp.addCoordinateSystem (0.1, "global", 0);p.spin ();return (0);
}