PCL教程指南-点云变化检测

PCL教程指南-Spatial change detection on unorganized point cloud data(点云变化检测)

• 官方原文档
• 基于八叉树结构对两组点云检查区别即变化检测。
• 代码注释解读，扩展内容

#include <pcl/point_cloud.h>
#include <pcl/octree/octree_pointcloud_changedetector.h>

#include <iostream>
#include <vector>
#include <ctime>

int
main (int argc, char** argv)
{
//按照时间设置随机种子值
  srand ((unsigned int) time (NULL));

  // 八叉树体素分辨率
  float resolution = 32.0f;

  //变化检测类
  pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZ> octree (resolution);

  pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA (new pcl::PointCloud<pcl::PointXYZ> );

  // 生成128个点的cloudA
  cloudA->width = 128;
  cloudA->height = 1;
  cloudA->points.resize (cloudA->width * cloudA->height);

  for (std::size_t i = 0; i < cloudA->size (); ++i)
  {
    (*cloudA)[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
    (*cloudA)[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
    (*cloudA)[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
  }

  // 构建八叉树结构
  octree.setInputCloud (cloudA);
  octree.addPointsFromInputCloud ();

  //切换缓冲区，仍然保留原有数据
  octree.switchBuffers ();

  pcl::PointCloud<pcl::PointXYZ>::Ptr cloudB (new pcl::PointCloud<pcl::PointXYZ> );
   
  // 生成128个点的cloudB 
  cloudB->width = 128;
  cloudB->height = 1;
  cloudB->points.resize (cloudB->width * cloudB->height);

  for (std::size_t i = 0; i < cloudB->size (); ++i)
  {
    (*cloudB)[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
    (*cloudB)[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
    (*cloudB)[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
  }

  // 在缓冲区中构建B的八叉树结构
  octree.setInputCloud (cloudB);
  octree.addPointsFromInputCloud ();

  std::vector<int> newPointIdxVector;

  // B-A型点索引，即B相对A不同的点
  octree.getPointIndicesFromNewVoxels (newPointIdxVector);

  // Output points
  std::cout << "Output from getPointIndicesFromNewVoxels:" << std::endl;
  for (std::size_t i = 0; i < newPointIdxVector.size (); ++i)
    std::cout << i << "# Index:" << newPointIdxVector[i]
              << "  Point:" << (*cloudB)[newPointIdxVector[i]].x << " "
              << (*cloudB)[newPointIdxVector[i]].y << " "
              << (*cloudB)[newPointIdxVector[i]].z << std::endl;

}

• pcl::octree::OctreePointCloudChangeDetector类继承自pcl::octree::OctreePointCloud和pcl::octree::Octree2BufBase
• 检测类本身没有其他重写或新的方法，只有一个变化检测新索引的功能(getPointIndicesFromNewVoxels)，其他方法继承自父类。