ply、obj 格式转pcd 均匀采样

      ply以及obj格式点云比较常见，一般存储格式如下所示。这里，有1536个顶点，3050 个面。 其中，end_header  后是各点的坐标（索引是0-1535）。接着是组成Mesh（即三角形）的具体点的索引：3表示3个顶点，后面三个数字对应相应顶点的索引。

ply
format ascii 1.0
comment VCGLIB generated
element vertex 1536
property float x
property float y
property float z
element face 3050
property list uchar int vertex_indices
property int flags
end_header
2.77556e-014 0 100 
2.67147e-014 5.5 96.25 
2.64372e-014 5.5 95.25 
2.31759e-014 5.5 83.5 
1.50574e-014 5.5 54.25 
.....
3 14 1 0 
3 0 1 2 
3 0 2 3 
3 6 323 4 
3 4 323 0 
...

      理论上可以根据mesh的三个顶点的索引确定三角形，然后在三角形生成均匀或随机点。但是实现起来起码对我来说会比较麻烦。不过已经有人实现了这种方法。下面贴上代码，后面介绍使用方法。

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/common/transforms.h>
#include <vtkVersion.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkTriangle.h>
#include <vtkTriangleFilter.h>
#include <vtkPolyDataMapper.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>

inline double
uniform_deviate(int seed)
{
	double ran = seed * (1.0 / (RAND_MAX + 1.0));
	return ran;
}

inline void
randomPointTriangle(float a1, float a2, float a3, float b1, float b2, float b3, float c1, float c2, float c3,
Eigen::Vector4f& p)
{
	float r1 = static_cast<float> (uniform_deviate(rand()));
	float r2 = static_cast<float> (uniform_deviate(rand()));
	float r1sqr = std::sqrt(r1);
	float OneMinR1Sqr = (1 - r1sqr);
	float OneMinR2 = (1 - r2);
	a1 *= OneMinR1Sqr;
	a2 *= OneMinR1Sqr;
	a3 *= OneMinR1Sqr;
	b1 *= OneMinR2;
	b2 *= OneMinR2;
	b3 *= OneMinR2;
	c1 = r1sqr * (r2 * c1 + b1) + a1;
	c2 = r1sqr * (r2 * c2 + b2) + a2;
	c3 = r1sqr * (r2 * c3 + b3) + a3;
	p[0] = c1;
	p[1] = c2;
	p[2] = c3;
	p[3] = 0;
}

inline void
randPSurface(vtkPolyData * polydata, std::vector<double> * cumulativeAreas, double totalArea, Eigen::Vector4f& p, bool calcNormal, Eigen::Vector3f& n)
{
	float r = static_cast<float> (uniform_deviate(rand()) * totalArea);

	std::vector<double>::iterator low = std::lower_bound(cumulativeAreas->begin(), cumulativeAreas->end(), r);
	vtkIdType el = vtkIdType(low - cumulativeAreas->begin());

	double A[3], B[3], C[3];
	vtkIdType npts = 0;
	vtkIdType *ptIds = NULL;
	polydata->GetCellPoints(el, npts, ptIds);
	polydata->GetPoint(ptIds[0], A);
	polydata->GetPoint(ptIds[1], B);
	polydata->GetPoint(ptIds[2], C);
	if (calcNormal)
	{
		// OBJ: Vertices are stored in a counter-clockwise order by default
		Eigen::Vector3f v1 = Eigen::Vector3f(A[0], A[1], A[2]) - Eigen::Vector3f(C[0], C[1], C[2]);
		Eigen::Vector3f v2 = Eigen::Vector3f(B[0], B[1], B[2]) - Eigen::Vector3f(C[0], C[1], C[2]);
		n = v1.cross(v2);
		n.normalize();
	}
	randomPointTriangle(float(A[0]), float(A[1]), float(A[2]),
		float(B[0]), float(B[1]), float(B[2]),
		float(C[0]), float(C[1]), float(C[2]), p);
}

void
uniform_sampling(vtkSmartPointer<vtkPolyData> polydata, size_t n_samples, bool calc_normal, pcl::PointCloud<pcl::PointNormal> & cloud_out)
{
	polydata->BuildCells();
	vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys();

	double p1[3], p2[3], p3[3], totalArea = 0;
	std::vector<double> cumulativeAreas(cells->GetNumberOfCells(), 0);
	size_t i = 0;
	vtkIdType npts = 0, *ptIds = NULL;
	for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds); i++)
	{
		polydata->GetPoint(ptIds[0], p1);
		polydata->GetPoint(ptIds[1], p2);
		polydata->GetPoint(ptIds[2], p3);
		totalArea += vtkTriangle::TriangleArea(p1, p2, p3);
		cumulativeAreas[i] = totalArea;
	}

	cloud_out.points.resize(n_samples);
	cloud_out.width = static_cast<pcl::uint32_t> (n_samples);
	cloud_out.height = 1;

	for (i = 0; i < n_samples; i++)
	{
		Eigen::Vector4f p;
		Eigen::Vector3f n;
		randPSurface(polydata, &cumulativeAreas, totalArea, p, calc_normal, n);
		cloud_out.points[i].x = p[0];
		cloud_out.points[i].y = p[1];
		cloud_out.points[i].z = p[2];
		if (calc_normal)
		{
			cloud_out.points[i].normal_x = n[0];
			cloud_out.points[i].normal_y = n[1];
			cloud_out.points[i].normal_z = n[2];
		}
	}
}

using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;

const int default_number_samples = 500000;
const float default_leaf_size = 0.01f;

void
printHelp(int, char **argv)
{
	print_error("Syntax is: %s input.{ply,obj} output.pcd <options>\n", argv[0]);
	print_info("  where options are:\n");
	print_info("                     -n_samples X      = number of samples (default: ");
	print_value("%d", default_number_samples);
	print_info(")\n");
	print_info(
		"                     -leaf_size X  = the XYZ leaf size for the VoxelGrid -- for data reduction (default: ");
	print_value("%f", default_leaf_size);
	print_info(" m)\n");
	print_info("                     -write_normals = flag to write normals to the output pcd\n");
	print_info(
		"                     -no_vis_result = flag to stop visualizing the generated pcd\n");
}

/* ---[ */
int
main(int argc, char **argv)
{
	print_info("Convert a CAD model to a point cloud using uniform sampling. For more information, use: %s -h\n",
		argv[0]);

	if (argc < 3)
	{
		printHelp(argc, argv);
		return (-1);
	}

	// Parse command line arguments
	int SAMPLE_POINTS_ = default_number_samples;
	parse_argument(argc, argv, "-n_samples", SAMPLE_POINTS_);
	float leaf_size = default_leaf_size;
	parse_argument(argc, argv, "-leaf_size", leaf_size);
	bool vis_result = !find_switch(argc, argv, "-no_vis_result");
	const bool write_normals = find_switch(argc, argv, "-write_normals");

	// Parse the command line arguments for .ply and PCD files
	std::vector<int> pcd_file_indices = parse_file_extension_argument(argc, argv, ".pcd");
	if (pcd_file_indices.size() != 1)
	{
		print_error("Need a single output PCD file to continue.\n");
		return (-1);
	}
	std::vector<int> ply_file_indices = parse_file_extension_argument(argc, argv, ".ply");
	std::vector<int> obj_file_indices = parse_file_extension_argument(argc, argv, ".obj");
	if (ply_file_indices.size() != 1 && obj_file_indices.size() != 1)
	{
		print_error("Need a single input PLY/OBJ file to continue.\n");
		return (-1);
	}

	vtkSmartPointer<vtkPolyData> polydata1 = vtkSmartPointer<vtkPolyData>::New();
	if (ply_file_indices.size() == 1)
	{
		pcl::PolygonMesh mesh;
		pcl::io::loadPolygonFilePLY(argv[ply_file_indices[0]], mesh);
		pcl::io::mesh2vtk(mesh, polydata1);
	}
	else if (obj_file_indices.size() == 1)
	{
		vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New();
		readerQuery->SetFileName(argv[obj_file_indices[0]]);
		readerQuery->Update();
		polydata1 = readerQuery->GetOutput();
	}

	//make sure that the polygons are triangles!
	vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New();
#if VTK_MAJOR_VERSION < 6
	triangleFilter->SetInput(polydata1);
#else
	triangleFilter->SetInputData(polydata1);
#endif
	triangleFilter->Update();

	vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
	triangleMapper->SetInputConnection(triangleFilter->GetOutputPort());
	triangleMapper->Update();
	polydata1 = triangleMapper->GetInput();

	bool INTER_VIS = false;

	if (INTER_VIS)
	{
		visualization::PCLVisualizer vis;
		vis.addModelFromPolyData(polydata1, "mesh1", 0);
		vis.setRepresentationToSurfaceForAllActors();
		vis.spin();
	}

	pcl::PointCloud<pcl::PointNormal>::Ptr cloud_1(new pcl::PointCloud<pcl::PointNormal>);
	uniform_sampling(polydata1, SAMPLE_POINTS_, write_normals, *cloud_1);

	if (INTER_VIS)
	{
		visualization::PCLVisualizer vis_sampled;
		vis_sampled.addPointCloud<pcl::PointNormal>(cloud_1);
		if (write_normals)
			vis_sampled.addPointCloudNormals<pcl::PointNormal>(cloud_1, 1, 0.02f, "cloud_normals");
		vis_sampled.spin();
	}

	// Voxelgrid
	VoxelGrid<PointNormal> grid_;
	grid_.setInputCloud(cloud_1);
	grid_.setLeafSize(leaf_size, leaf_size, leaf_size);

	pcl::PointCloud<pcl::PointNormal>::Ptr voxel_cloud(new pcl::PointCloud<pcl::PointNormal>);
	grid_.filter(*voxel_cloud);

	if (vis_result)
	{
		visualization::PCLVisualizer vis3("VOXELIZED SAMPLES CLOUD");
		vis3.addPointCloud<pcl::PointNormal>(voxel_cloud);
		if (write_normals)
			vis3.addPointCloudNormals<pcl::PointNormal>(voxel_cloud, 1, 0.02f, "cloud_normals");
		vis3.spin();
	}

	if (!write_normals)
	{
		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);
		// Strip uninitialized normals from cloud:
		pcl::copyPointCloud(*voxel_cloud, *cloud_xyz);
		savePCDFileASCII(argv[pcd_file_indices[0]], *cloud_xyz);
	}
	else
	{
		savePCDFileASCII(argv[pcd_file_indices[0]], *voxel_cloud);
	}
}

     具体实现有几种方法，这里只介绍一种。

                   首先，在vs该程序界面上点集生成解决方案。这样就会生成.exe可执行文件。

                   然后，打开cmd，在命令行依次输入： 可执行文件（红框）、待转换文件（黄框）以及生成文件（篮框）。

       

                   注意，生成文件需要自己定义存储位置及文件名。

 点击enter ，出现 

则成功。稍等便会显示转换后的点云文件；关闭显示窗口，接下来就会保存点云（保存比较耗时），切记：不是关闭（cmd）命令窗口。