日期:2021/12/2
参考链接:http://it.ckcest.cn/article-3992715-1.html
代码
网上公开的点云去质心的程序比较少,此处结合实际应用对参考程序进行修改,代码如下:
#include <pcl/io/pcd_io.h>
#include <pcl/common/centroid.h>
#include <iostream>
#include <vtkAutoInit.h>
#include <pcl/io/io.h>
#include <pcl/io/obj_io.h>
#include <pcl/PolygonMesh.h>
#include <pcl/point_cloud.h>
#include <pcl/io/vtk_lib_io.h> //loadPolygonFileOBJ所属头文件;
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
int main()
{
//加载点云,此处输入为.obj文件
std::string fileName = "/home/sun/Fast_RNRR/data/test/source.obj"; //输入文件地址;
pcl::PolygonMesh meshData; //读取原始数据
pcl::io::loadPolygonFile(fileName,meshData);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in;
cloud_in.reset(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(meshData.cloud, *cloud_in);//将obj数据转换为点云数据
// if (pcl::io::loadPCDFile(fileName, *cloud_in) < 0)
// {
// PCL_ERROR("该点云文件不存在!");
// return -1;
// }
//计算输入点云质心
Eigen::Vector4f centroid_in;
pcl::compute3DCentroid(*cloud_in, centroid_in);
cout << "质心坐标为:" << "core_x:" << centroid_in[0] << endl << "core_y:" << centroid_in[1] << endl << "core_z:" << centroid_in[2] << endl;
/*-----执行去质心-----*/
//方式1:调用demeanPointCloud()函数
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out1(new pcl::PointCloud<pcl::PointXYZ>);
pcl::demeanPointCloud(*cloud_in, centroid_in, *cloud_out1);
//计算去质心后点云质心
Eigen::Vector4f centroid_out1;
pcl::compute3DCentroid(*cloud_out1, centroid_out1);
cout << "方式1去质心后质心坐标为:" << "core_x:" << centroid_out1[0] << endl << "core_y:" << centroid_out1[1] << endl << "core_z:" << centroid_out1[2] << endl;
//方式2:循环实现
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out2(new pcl::PointCloud<pcl::PointXYZ>);
*cloud_out2 = *cloud_in;
for (size_t i = 0; i < cloud_in->size(); ++i)
{
cloud_out2->points[i].x = cloud_in->points[i].x - centroid_in[0];
cloud_out2->points[i].y = cloud_in->points[i].y - centroid_in[1];
cloud_out2->points[i].z = cloud_in->points[i].z - centroid_in[2];
}
//计算去质心后点云质心
Eigen::Vector4f centroid_out2;
pcl::compute3DCentroid(*cloud_out2, centroid_out2);
cout << "方式2去质心后质心坐标为:" << "core_x:" << centroid_out2[0] << endl << "core_y:" << centroid_out2[1] << endl << "core_z:" << centroid_out2[2] << endl;
//两种去质心方式的比较
cout << "两种去质心方式的差值:" << endl;
cout << "delt_x=" << centroid_out1[0] - centroid_out2[0] << endl << "delt_y=" << centroid_out1[1] - centroid_out2[1] << endl << "delt_z=" << centroid_out1[2] - centroid_out2[2] << endl;
//保存去质心后点云
if (!cloud_out1->empty())
{
//保存的文件名为cloud0.pcd,默认保存位置为build文件夹下
pcl::io::savePCDFileBinary("cloud0.pcd", *cloud_out1);
}
return 0;
}
运行结果
程序运行结果如下:
结果分析
根据理论分析,点云去质心之后的质心坐标应该是(0,0,0),可是实际的结果却不是零,而是一个接近零的数,这是合理的,因为计算机的结果是数值解,会存在截断误差。