点云随笔（六）格网法计算面积

       格网法计算面积，这个感觉已经是老生常谈了，主要是两种区分。

       第一类的化，在进行格网法计算投影面面积时，格网内部网格只要其中有点落入，那么该网格就算入最终计算面积之中去，总体计算公式则是：

       Area自然就是面积，Count则是网格内有点的总网格数量，grid是网格边长。

       第二类的计算思路则是统计每一列中网格包含点的最低网格和最高网格，两者做差即得该列网格数量，最终计算公式跟第一类一致。最主要是两者统计网格的区别，第一类如果是物体或者地形整体的话，因为稀疏点云而导致的网格内无点但实际是连续的话，第一类就会导致计算误差，而第二类在我看来能更好的对整体而言。

double area_CELL_contain_add(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud) {//第一类计算
    pcl::PointXYZ maxpt, minpt;
    pcl::getMinMax3D(*cloud, minpt, maxpt);
    double grid_size{ 0.2 };


    for (int i{ 0 }; i < cloud->size(); i++) {
        cloud->points[i].z = cloud->points[i].z - minpt.z;
    }

    int row = ((maxpt.y - minpt.y + 4 * grid_size) / grid_size);
    int col = ((maxpt.x - minpt.x + 4 * grid_size) / grid_size);
    int grid_count = { row * col };

    multimap<int, int>hashmap;
    for (int i = 0; i < cloud->size(); i++)
    {
        int row_number = int((cloud->points[i].y - minpt.y) / grid_size) + 1;
        int col_number = int((cloud->points[i].x - minpt.x) / grid_size) + 1;
        int rank = (row_number - 1) * col + col_number;
        hashmap.insert(make_pair(rank, i));
    }
    int count{ 0 };
    for (int i = 0; i < grid_count; i++)
    {

        if (hashmap.find(i) != hashmap.end()) {
            count++;
        }
        else {

        }
    }
    float area = count * pow(grid_size, 2);
    cout << "格网法点数累积计算得到面积为" << area << endl;
    return area;
}

double area_CELL_low_down(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud) {//第二类计算


    pcl::PointXYZ maxpt, minpt;
    pcl::getMinMax3D(*cloud, minpt, maxpt);
    double grid_size{ 0.2 };
    int row = ((maxpt.y - minpt.y) / grid_size),col = ((maxpt.x - minpt.x) / grid_size),grid_count = { row * col };
    int count{ 0 };
    for (int i = 0; i < col; i++)
    {
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloudxy(new pcl::PointCloud<pcl::PointXYZ>);
        for (int j = 0; j < cloud->size(); j++)
        {
            int col_number = int((cloud->points[j].x - minpt.x) / grid_size) + 1;
            if (col_number == i)
                cloudxy->push_back(cloud->points[j]);
        }
        pcl::PointXYZ MAXPT, MINPT;
        pcl::getMinMax3D(*cloudxy, MINPT, MAXPT);
        int row1down{ 0 }, row1up{ 0 };
        for (int j = 0; j < cloudxy->size(); j++)
        {
            if (cloudxy->points[j].z == MINPT.z)
                row1down = int((cloudxy->points[j].y - minpt.y) / grid_size) + 1;
            else if (cloudxy->points[j].z == MAXPT.z)
                row1up = int((cloudxy->points[j].y - minpt.y) / grid_size) + 1;
        }
        count += abs(row1up - row1down + 1);

    }
    float area = count * pow(grid_size, 2);
    cout << "格网法上下计算得到面积为" << area << endl;
    return area;
}