PCL——连接两个点云的字段

1. 示例代码

以下代码参照PCL官方文档：https://pcl.readthedocs.io/projects/tutorials/en/master/concatenate_fields.html

• concatenate_fields.cpp

#include <iostream>
#include <pcl/common/io.h> // for concatenateFields
#include <pcl/point_types.h>

//这里的约束条件是，两个数据集中的点数必须相等。
int main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud_a;
	pcl::PointCloud<pcl::Normal> cloud_b;
	pcl::PointCloud<pcl::PointNormal> cloud_c;

	// Fill in the cloud data
	cloud_a.width = cloud_b.width = 5;
	cloud_a.height = cloud_b.height = 1;
	cloud_a.resize(cloud_a.width * cloud_a.height);
	cloud_b.resize(cloud_b.width * cloud_b.height);

	for (std::size_t i = 0; i < cloud_a.size(); ++i)
	{
		cloud_a[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	for (std::size_t i = 0; i < cloud_b.size(); ++i)
	{
		cloud_b[i].normal[0] = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_b[i].normal[1] = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_b[i].normal[2] = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	std::cerr << "Cloud A: " << std::endl;
	for (std::size_t i = 0; i < cloud_a.size(); ++i)
		std::cerr << "    " << cloud_a[i].x << " " << cloud_a[i].y << " " << cloud_a[i].z << std::endl;

	std::cerr << "Cloud B: " << std::endl;
	for (std::size_t i = 0; i < cloud_b.size(); ++i)
		std::cerr << "    " << cloud_b[i].normal[0] << " " << cloud_b[i].normal[1] << " " << cloud_b[i].normal[2] << std::endl;

	//create cloud_c by concatenating the fields of cloud_a and cloud_b together.
	pcl::concatenateFields(cloud_a, cloud_b, cloud_c);
	std::cerr << "Cloud C: " << std::endl;
	for (std::size_t i = 0; i < cloud_c.size(); ++i)
		std::cerr << "    " <<
		cloud_c[i].x << " " << cloud_c[i].y << " " << cloud_c[i].z << " " <<
		cloud_c[i].normal[0] << " " << cloud_c[i].normal[1] << " " << cloud_c[i].normal[2] << std::endl;

	system("Pause");
	return (0);
}

2. 上面出现的PointT类型

2.1 PointXYZ

• PointXYZ只包含三维xyz坐标信息，附加一个浮点数是为了满足存储对齐，所以一共有4个浮点数。

  struct EIGEN_ALIGN16 PointXYZ : public _PointXYZ
  {
    inline PointXYZ (const _PointXYZ &p)
    {
      x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
    }

    inline PointXYZ ()
    {
      x = y = z = 0.0f;
      data[3] = 1.0f;
    }

    inline PointXYZ (float _x, float _y, float _z)
    {
      x = _x; y = _y; z = _z;
      data[3] = 1.0f;
    }

    friend std::ostream& operator << (std::ostream& os, const PointXYZ& p);
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

2.2 Normal

• Normal结构体表示给定点所在样本曲面的法线方向，以及对应曲率的测量值。
• 第四个元素用来占位，这样可以兼容SSE和高效计算。
• 曲率不能和xyz一样被存储在同一个数组中，它需要独立的变量以避免被普通的数据操作覆盖。

  struct Normal : public _Normal
  {
    inline Normal (const _Normal &p)
    {
      normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z;
      data_n[3] = 0.0f;
      curvature = p.curvature;
    }

    inline Normal ()
    {
      normal_x = normal_y = normal_z = data_n[3] = 0.0f;
      curvature = 0;
    }

    inline Normal (float n_x, float n_y, float n_z)
    {
      normal_x = n_x; normal_y = n_y; normal_z = n_z;
      curvature = 0;
      data_n[3] = 0.0f;
    }

    friend std::ostream& operator << (std::ostream& os, const Normal& p);
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

2.3 PointNormal

• PointNormal是存储XYZ数据的point结构体，并且包括采样点对应法线和曲率

  struct PointNormal : public _PointNormal
  {
    inline PointNormal (const _PointNormal &p)
    {
      x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
      normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
      curvature = p.curvature;
    }

    inline PointNormal ()
    {
      x = y = z = 0.0f;
      data[3] = 1.0f;
      normal_x = normal_y = normal_z = data_n[3] = 0.0f;
    }
  
    friend std::ostream& operator << (std::ostream& os, const PointNormal& p);
  };