利用PCL库做简单的三维立体图形

利用PCL库画简单的三维立体图形需要知道各种图形的参数方程，然后给每个参数赋值便可以。

圆柱面的参数方程为：x = R*cos(θ); y = R*sin(θ); z = z;其中 θ范围是[-2*PI, 2*PI), z的范围是(-∞，+∞）

球面的参数方程是：x = R*sin(θ)*cos(ψ); y = R*sin(θ)*sin(ψ); z = R*cos(θ);其中θ∈[0, PI), ψ∈[0, 2*PI)

下面给出代码：

#include <iostream> 
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h> 
#include <pcl/visualization/pcl_visualizer.h>
// #include <pcl/console/parse.h>

boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0.0, 0.0, 0.0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1.0, "sample cloud");
	viewer->addCoordinateSystem(1.0);
	viewer->initCameraParameters();

	return viewer;
}

//构造圆柱体点云
void ConsCylinderCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr)
{
	for(float z = -1.0; z <= 1.0; z += 0.05)
	{
		for (float angle = 0.0; angle <= 360.0; angle += 5.0)
		{
			pcl::PointXYZ basic_point;

			basic_point.x = cosf(pcl::deg2rad(angle));
			basic_point.y = sinf(pcl::deg2rad(angle));
			basic_point.z = z;
			basic_cloud_ptr->points.push_back(basic_point);
		}
	}

	basic_cloud_ptr->width = (int)basic_cloud_ptr->points.size();
	basic_cloud_ptr->height = 1;
}

//构造球体点云
void ConsSphereCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr)
{
	float radius = 0.2;

	for (float angle1 = 0.0; angle1 <= 180.0; angle1 += 5.0)
	{
		for (float angle2 = 0.0; angle2 <= 360.0; angle2 += 5.0)
		{
			pcl::PointXYZ basic_point;

			basic_point.x = radius * sinf(pcl::deg2rad(angle1)) * cosf(pcl::deg2rad(angle2));
			basic_point.y = radius * sinf(pcl::deg2rad(angle1)) * sinf(pcl::deg2rad(angle2));
			basic_point.z = radius * cosf(pcl::deg2rad(angle1));
			basic_cloud_ptr->points.push_back(basic_point);
		}
	}

	basic_cloud_ptr->width = (int)basic_cloud_ptr->points.size();
	basic_cloud_ptr->height = 1;
}

int main(int _Argc, char *argv[])
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);

#define SPHERE
#if defined CYLINDER
	ConsCylinderCloud(basic_cloud_ptr);
#elif defined SPHERE
	ConsSphereCloud(basic_cloud_ptr);
#endif
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = simpleVis(basic_cloud_ptr);
	while ( !viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	return 0;
}

这个是画出的球面。

如果要画出圆柱面，则将代码中的#define SPHERE改为#define CYLINDER，然后编译运行即可显示以xoy平面对称的圆柱面。

以上显示方式是在程序中写死的，也可以将点云保存为文件，

程序中的main函数中稍微修改下，将viewer的代码替换为

ConsSphereCloud(basic_cloud_ptr);
	pcl::io::savePCDFileASCII("sphere.pcd", *basic_cloud_ptr);

然后在控制台下切换到C:\Program Files (x86)\PCL 1.6.0\bin目录中，再执行

C:\Users\pc>pcd_viewer_release D:\pcl_test\visualizer\cmake-bin\sphere.pcd
The viewer window provides interactive commands; for help, press 'h' or 'H' from within the window.
> Loading D:\pcl_test\visualizer\cmake-bin\sphere.pcd [done, 140 ms : 2701 points]
Available dimensions: x y z

显示的图像如下所示：