PCL点云库——最小包围盒

最小包围盒

　　包围盒也叫外接最小矩形,是一种求解离散点集最优包围空间的算法，基本思想是用体积稍大且特性简单的几何体（称为包围盒）来近似地代替复杂的几何对象。
　　常见的包围盒算法有AABB包围盒、包围球、方向包围盒OBB以及固定方向凸包FDH。碰撞检测问题在虚拟现实、计算机辅助设计与制造、游戏及机器人等领域有着广泛的应用，甚至成为关键技术。而包围盒算法是进行碰撞干涉初步检测的重要方法之一。

图1 包围盒种类

#include <pcl/features/moment_of_inertia_estimation.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/transforms.h>

using namespace std;

int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
	if (pcl::io::loadPCDFile("rabbit.pcd", *cloud) == -1)
		return (-1);

	pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
	feature_extractor.setInputCloud(cloud);
	feature_extractor.compute();

	vector <float> moment_of_inertia;
	vector <float> eccentricity;
	pcl::PointXYZ min_point_AABB;
	pcl::PointXYZ max_point_AABB;
	pcl::PointXYZ min_point_OBB;
	pcl::PointXYZ max_point_OBB;
	pcl::PointXYZ position_OBB;
	Eigen::Matrix3f rotational_matrix_OBB;
	float major_value, middle_value, minor_value;
	Eigen::Vector3f major_vector, middle_vector, minor_vector;
	Eigen::Vector3f mass_center;

	feature_extractor.getMomentOfInertia(moment_of_inertia);
	feature_extractor.getEccentricity(eccentricity);
	feature_extractor.getAABB(min_point_AABB, max_point_AABB);
	feature_extractor.getOBB(min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB);
	feature_extractor.getEigenValues(major_value, middle_value, minor_value);
	feature_extractor.getEigenVectors(major_vector, middle_vector, minor_vector);
	feature_extractor.getMassCenter(mass_center);

	//AABB外接立方体
	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(128.0 / 255.0, 138.0 / 255.0, 135.0 / 255.0);
	viewer->addCoordinateSystem(0.1);
	viewer->initCameraParameters();
	viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
	viewer->addCube(min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 0.0, 0.0, "AABB", 0);
	viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_POINTS, "AABB");

	//OBB外接立方体，最小外接立方体
	Eigen::Vector3f position(position_OBB.x, position_OBB.y, position_OBB.z);
	Eigen::Quaternionf quat(rotational_matrix_OBB);
	viewer->addCube(position, quat, max_point_OBB.x - min_point_OBB.x, max_point_OBB.y - min_point_OBB.y, max_point_OBB.z - min_point_OBB.z, "OBB");
	viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "OBB");

	//中心点处加坐标
	pcl::PointXYZ center(mass_center(0), mass_center(1), mass_center(2));
	pcl::PointXYZ x_axis(major_vector(0) + mass_center(0), major_vector(1) + mass_center(1), major_vector(2) + mass_center(2));
	pcl::PointXYZ y_axis(middle_vector(0) + mass_center(0), middle_vector(1) + mass_center(1), middle_vector(2) + mass_center(2));
	pcl::PointXYZ z_axis(minor_vector(0) + mass_center(0), minor_vector(1) + mass_center(1), minor_vector(2) + mass_center(2));
	viewer->addLine(center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector");
	viewer->addLine(center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector");
	viewer->addLine(center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector");

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return (0);
}

图2 程序运行效果