PCL学习笔记（四）-- 两个点云中的字段或数据拼接

一、简介

        在将两个不同的点云连接为同一个点云之前，要确保两个数据集中字段的类型和维度相同。同时也学习如何连接两个不同点云的字段（例如，颜色、法线），这种操作的强制约束条件是两个数据集中点的数目必须是一样的，例如，点云A是N个点的xyz点，点云B是N个点的rgb点，则连接两个字段形成的点云C是N个点的xyzrgb类型。

二、代码分析

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;					//创建三个点云，点云中的点的类型是XYZ
	pcl::PointCloud<pcl::Normal> n_cloud_b;										//创建一个点云，点云中的点都是法向量
	pcl::PointCloud<pcl::PointNormal> p_n_cloud_b;								//创建一个点云，点云中的点都是带法向量的点

	cloud_a.width = 5;															//初始化点云中点的数量
	cloud_a.height = cloud_b.height = n_cloud_b.height = 1;						//初始化点云中的点都是有序点
	cloud_a.points.resize(cloud_a.width * cloud_a.height);						//重新计算点云中的点的大小

	for (size_t i = 0;i < cloud_a.points.size();++i)							//随机数填充点云
	{
		cloud_a.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	std::cerr << "cloud A:" << std::endl;										//循环输出点云A数据
	for (size_t i = 0; i < cloud_a.points.size();++i)
	{
		std::cerr << "	" << cloud_a.points[i].x << "	" << cloud_a.points[i].y << "	" << cloud_a.points[i].z << std::endl;
	}

	if (strcmp(argv[1], "-p") == 0)												//如果是进行点云中点的拼接
	{
		cloud_b.width = 3;														//初始化点云B，其点的数量不需要与A一致
		cloud_b.points.resize(cloud_b.width * cloud_b.height);

		for (size_t i = 0;i < cloud_b.points.size();++i)						//随机填充B
		{
			cloud_b.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
			cloud_b.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
			cloud_b.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
		}

		std::cerr << "cloud B:" << std::endl;									//循环输出B
		for (size_t i = 0; i < cloud_b.points.size();++i)
		{
			std::cerr << "	" << cloud_b.points[i].x << "	" << cloud_b.points[i].y << "	" << cloud_b.points[i].z << std::endl;
		}

		cloud_c = cloud_a;														//将点云A与点云B进行拼接
		cloud_c += cloud_b;

		std::cerr << "Connect cloud A with cloud B to get cloud C:" << std::endl;//输出拼接后的点云C
		for (size_t i = 0; i < cloud_c.points.size();++i)
		{
			std::cerr << "	" << cloud_c.points[i].x << "	" << cloud_c.points[i].y << "	" << cloud_c.points[i].z << std::endl;
		}

	}
	else
	{
		n_cloud_b.width = 5;													//如果是进行字段拼接，将法向量拼接至点云，就需要确保法向量的个数与点云一致
		n_cloud_b.points.resize(n_cloud_b.width * n_cloud_b.height);
		
		for (size_t i = 0;i < n_cloud_b.points.size();++i)
		{
			n_cloud_b.points[i].normal[0] = 1024 * rand() / (RAND_MAX + 1.0f);
			n_cloud_b.points[i].normal[1] = 1024 * rand() / (RAND_MAX + 1.0f);
			n_cloud_b.points[i].normal[2] = 1024 * rand() / (RAND_MAX + 1.0f);
		}

		std::cerr << "Normal B:" << std::endl;
		for (size_t i = 0; i < n_cloud_b.points.size();++i)
		{
			std::cerr << "	" << n_cloud_b.points[i].normal[0] << "	" << n_cloud_b.points[i].normal[1] << "	" << n_cloud_b.points[i].normal[2] << std::endl;
		}

		pcl::concatenateFields(cloud_a, n_cloud_b, p_n_cloud_b);				//进行字段的拼接
		std::cerr << "Connect cloud A with Normal B to get PointNormalCloudB:" << std::endl;
		for (size_t i = 0; i < p_n_cloud_b.points.size();++i)
		{
			std::cerr << "	" << p_n_cloud_b.points[i].x << "	" << p_n_cloud_b.points[i].y << "	" << p_n_cloud_b.points[i].z << "	" << p_n_cloud_b.points[i].normal[0] << "	" << p_n_cloud_b.points[i].normal[1] << "	" << p_n_cloud_b.points[i].normal[2] << std::endl;
		}
	}
	return(0);

}

三、输出结果