3D Vision--生成空间任意圆柱及任意直线

写在前面

1、内容：
如何生成空间任意圆柱体点云及其轴线，任意直线的生成也就是本文轴线的生成方式。
2、环境：
open3d
2、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/121482141

几何原理

圆柱的方程，用于拟合已有圆柱：

圆柱上的点到轴线的距离等于圆柱的底面半径
$$(x-x_0{)}^2+(y-y_0{)}^2+(z-z_0{)}^2-[a(x-x_0)+b(y-y_0)+c(z-z_0){]}^2={r_0}^2$$

参考：
https://blog.csdn.net/qq_30815237/article/details/90405087

圆柱空间参数方程，用于生成圆柱：

$$\begin{array}{rl}x& =x_0+r\frac{B}{\sqrt{A^2+B^2}}\cos u+r\frac{AC}{\sqrt{A^2+B^2}\sqrt{A^2+B^2+C^2}}\sin u+\frac{A}{\sqrt{A^2+B^2+C^2}}v\\ y& =y_0-r\frac{B}{\sqrt{A^2+B^2}}\cos u+r\frac{BC}{\sqrt{A^2+B^2}\sqrt{A^2+B^2+C^2}}\sin u+\frac{B}{\sqrt{A^2+B^2+C^2}}v\\ z& =z_0-r\frac{\sqrt{A^2+B^2}}{\sqrt{A^2+B^2+C^2}}\sin u+\frac{C}{\sqrt{A^2+B^2+C^2}}v\\ & 0\le u\le 2\pi ,v_{min}<v<v_{max}\end{array}$$
参考：
https://blog.csdn.net/inerterYang/article/details/111998278

python代码

import open3d as o3d
import numpy as np

def create_cylinder(cylinder_coefficients, height=5, step=0.5, vis=False):
    """

    Args:
        cylinder_coefficients: A dictionary containing cylindrical coefficients:
                                (r,x0,y0,z0,a,b,c
                                r the radius of the cylinder
                                x0,y0,z0 the Starting center of the cylinder
                                a, b, c: axis coefficient of the cylinder)
        height: height_ of the cylinder
        step: Density of cylinder point cloud
        vis: whether to visualize the cylinder

    Returns:
        numpy form of the cylinder point cloud: n x 3
    References:
        https://blog.csdn.net/inerterYang/article/details/111998278
        https://blog.csdn.net/inerterYang/article/details/111304307

    @Author: Carlos_Lee 202111

    """
    r = cylinder_coefficients['r']
    x0 = cylinder_coefficients['x0']
    y0 = cylinder_coefficients['y0']
    z0 = cylinder_coefficients['z0']
    a = cylinder_coefficients['a']
    b = cylinder_coefficients['b']
    c = cylinder_coefficients['c']

    angle_ = np.arange(0, 2 * np.pi, step / 10).reshape(-1, 1)

    v = np.arange(0, height, step)
    npy = []
    for i in v:
        x = x0 + r * b / np.power(a * a + b * b, 0.5) * np.cos(angle_) + \
            r * a * c / np.power(a * a + b * b, 0.5) / np.power(a * a + b * b + c * c, 0.5) * \
            np.sin(angle_) + a / np.power(a * a + b * b + c * c, 0.5) * i

        y = y0 - r * a / np.power(a * a + b * b, 0.5) * np.cos(angle_) + \
            r * b * c / np.power(a * a + b * b, 0.5) / np.power(a * a + b * b + c * c, 0.5) * \
            np.sin(angle_) + b / np.power(a * a + b * b + c * c, 0.5) * i

        z = z0 - r * np.power(a * a + b * b, 0.5) / np.power(a * a + b * b + c * c, 0.5) * np.sin(angle_) + \
            c / np.power(a * a + b * b + c * c, 0.5) * i

        npy.append(np.concatenate([x, y, z], axis=-1))

    npy = np.concatenate(npy, axis=0)
    if vis:
        coordinate_ = o3d.geometry.TriangleMesh.create_coordinate_frame(size=height / 2., origin=[0.0, 0.0, 0.0])
        pcd_ = o3d.geometry.PointCloud()
        pcd_.points = o3d.utility.Vector3dVector(npy)
        o3d.visualization.draw_geometries([coordinate_, pcd_], window_name="generate cylinder",
                                          width=960, height=900, left=960, top=100)
    return npy

if __name__ == "__main__":
    cylinder_coefficients = {'r': 2.0, 'x0': 0, 'y0': 0, 'z0': 0, 'a': 1, 'b': 1, 'c': 0}
    cylinder_npy = create_cylinder(cylinder_coefficients=cylinder_coefficients, height=5, step=0.05, vis=True)

完整测试代码在GitHub：
https://github.com/Noel-Gallagher-Highflyingbirds/geometry

生成结果

测试

完

--------------------------------------------------------------------------------------------诺有缸的高飞鸟202111