PCL 常用操作

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已于 2023-02-21 20:03:14 修改

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分类专栏： PCL 文章标签： PCL

于 2022-07-21 21:42:33 首次发布

本文链接：https://blog.csdn.net/u011489887/article/details/125921654

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复制点云

添加点的方式到新的点云
```
cloud->push_back(point);
```

通过索引添加

template <typename PointT> 
void copyPoints(const pcl::PointCloud<PointT> &cloud_in, const std::vector<int> &indices, pcl::PointCloud<PointT> &cloud_out)
{
	if (indices.size() == cloud_in.points.size())
	{
		cloud_out = cloud_in;
		return;
	}
	cloud_out.points.resize(indices.size());
	cloud_out.header = cloud_in.header;
	cloud_out.width = static_cast<uint32_t>(indices.size());
	cloud_out.height = 1;
	cloud_out.is_dense = cloud_in.is_dense;
	cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
	cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
	for (size_t i = 0; i < indices.size(); ++i)
	{
		cloud_out[i] = cloud_in[indices[i]];
	}
}

函数调用
这种方式还可用于点云格式转换，如source为XYZI，result为XYZ.
```
pcl::copyPointCloud(*source, *result);
```
两个点云叠加在一块
```
*cloud_c = *cloud_a + *cloud_b;
```

用时对比

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/shadowpoints.h>
#include <pcl/features/normal_3d.h>
#include <pcl/common/common.h>
#include <mutex>
#include <time.h>
#include <omp.h>

using namespace std;

int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr source(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr t1(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr t2(new pcl::PointCloud<pcl::PointXYZ>);
	int point_num = 20000000;
	for (int i=0;i<point_num;i++)
	{
		pcl::PointXYZ point;
		point.x = rand();
		point.y = rand();
		point.z = rand();
		source->points.push_back(point);
	}

	clock_t start = clock();
	pcl::copyPointCloud(*source,*t1);
	clock_t end = clock();
	cout << end - start << endl;


	mutex push_lock;
//#pragma omp parallel for 
	for (int i = 0; i < point_num; i++)
	{
		push_lock.lock();
		t2->points.push_back(source->points[i]);
		push_lock.unlock();
		Sleep(1);
	}

	clock_t end2 = clock();
	cout << end2 - end << endl;

	return 0;
}