int main stdvectorEdge edges; pclPointCloudpclPointXYZPtr singlejiediannew pclPointCloudpclPointXYZ; Load the input point cloud from PLY file pclPointCloudpclPointXYZPtr cloudnew pclPointCloudpclPoin

#include #include #include <pcl/io/ply_io.h> #include <pcl/point_types.h> #include <pcl/features/normal_3d.h> #include <pcl/common/centroid.h> #include <pcl/search/kdtree.h>

// 边的结构体 struct Edge { int src; // 边的起始点索引 int tgt; // 边的目标点索引 float weight; // 边的权重 };

// 图的类定义 class Graph { public: int V; // 图中顶点的数量 int E; // 图中边的数量 std::vector edges; // 存储边的向量

// 构造函数
Graph(int V, int E) {
    this->V = V;
    this->E = E;
}

// 添加一条边到图中
void addEdge(int src, int tgt, float weight) {
    Edge edge;
    edge.src = src;
    edge.tgt = tgt;
    edge.weight = weight;
    edges.push_back(edge);
}

};

// 欧几里得距离计算函数 float euclideanDistance(const pcl::PointXYZ& p1, const pcl::PointXYZ& p2) { float dx = p1.x - p2.x; float dy = p1.y - p2.y; float dz = p1.z - p2.z; return std::sqrt(dxdx + dydy + dz*dz); }

int main() { std::vector edges; // 存储边的向量 pcl::PointCloudpcl::PointXYZ::Ptr singlejiedian(new pcl::PointCloudpcl::PointXYZ); // 单个节点的点云 pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ); // 输入点云 pcl::io::loadPLYFilepcl::PointXYZ("D:\DIANYUNWENJIANJIA\newOUSHIJULEI_ply.ply", *cloud); // 从PLY文件中读取点云

// 计算点云的质心
Eigen::Vector4f centroid;
pcl::compute3DCentroid(*cloud, centroid);

// 计算点云的法线
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
ne.setInputCloud(cloud);
ne.setSearchMethod(tree);
ne.setKSearch(40);
ne.compute(*cloud_normals);

// 创建一个图，包含V个顶点和E条边
int V = cloud->size();
int E = V * (V - 1) / 2;
Graph graph(V, E);

// 基于点之间的欧几里得距离计算边的权重
for (int i = 0; i < V - 1; ++i) {
    const auto& src_point = cloud->points[i];
    for (int j = i + 1; j < V; ++j) {
        const auto& tgt_point = cloud->points[j];
        float distance = euclideanDistance(src_point, tgt_point);
        graph.addEdge(i, j, distance);
    }
}

// 其他代码...
return 0;

}