连接两个点云中的字段或数据形成新点云

原文链接：https://blog.csdn.net/u013019296/article/details/70052305

（1）学习如何连接两个不同点云为一个点云，进行操作前要确保两个数据集中字段的类型相同和维度相等，同时了解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一样，例如：点云A是N个点XYZ点，点云B是N个点的RGB点，则连接两个字段形成点云C是N个点xyzrgb类型
新建文件concatenate_clouds.cpp CMakeLists.txt

concatenate_clouds.cpp ：

#include <iostream>
#include <pcl/io/pcd_io.h>      //io模块 
#include <pcl/point_types.h>   //数据类型

int
  main (int argc, char** argv)
{
  if (argc != 2) //提示如果执行可执行文件输入两个参数 -f 或者-p
  {
    std::cerr << "please specify command line arg '-f' or '-p'" << std::endl;
    exit(0);
  }
  //申明三个pcl::PointXYZ点云数据类型，分别为cloud_a, cloud_b, cloud_c
  pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;
  //存储进行连接时需要的Normal点云,Normal (float n_x, float n_y, float n_z)
  pcl::PointCloud<pcl::Normal> n_cloud_b;
   //存储连接XYZ与normal后的点云
  pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;

  // 创建点云数据
  //设置cloud_a的个数为5
  cloud_a.width  = 5;
  cloud_a.height = cloud_b.height = n_cloud_b.height = 1; //设置都为无序点云
    cloud_a.points.resize (cloud_a.width * cloud_a.height); //总数
  if (strcmp(argv[1], "-p") == 0)   //判断是否为连接a+b=c(点云连接)
  {
    cloud_b.width  = 3;
    cloud_b.points.resize (cloud_b.width * cloud_b.height);
  }
  else{
    n_cloud_b.width = 5; //如果是连接XYZ与normal则生成5个法线（字段间连接）
    n_cloud_b.points.resize (n_cloud_b.width * n_cloud_b.height);
  }
//以下循环生成无序点云填充上面定义的两种类型的点云数据
  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {  //cloud_a产生三个点（每个点都有X Y Z 三个随机填充的值）
    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);
  }
  if (strcmp(argv[1], "-p") == 0)
    for (size_t i = 0; i < cloud_b.points.size (); ++i)
    {   //如果连接a+b=c，则cloud_b用三个点作为xyz的数据
      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);
    }
  else
    for (size_t i = 0; i < n_cloud_b.points.size (); ++i)
    {  //如果连接xyz+normal=xyznormal则n_cloud_b用5个点作为normal数据
      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);
    }
/*******************************************************************
定义了连接点云会用到的5个点云对象：3个输入（cloud_a cloud_b 和n_cloud_b）
两个输出（cloud_c  n_cloud_c）然后就是为两个输入点云cloud_a和 cloud_b或者cloud_a 和n_cloud_b填充数据  

********************************************************************/
//输出Cloud A
  std::cerr << "Cloud A: " << std::endl;
  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;
//输出Cloud B
  std::cerr << "Cloud B: " << std::endl;
  if (strcmp(argv[1], "-p") == 0)
    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;
  else//输出n_Cloud_b
    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;

  // Copy the point cloud data
  if (strcmp(argv[1], "-p") == 0)
  {
    cloud_c  = cloud_a;
    cloud_c += cloud_b;//把cloud_a和cloud_b连接一起创建cloud_c  后输出
    std::cerr << "Cloud C: " << std::endl;
    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
  {  //连接字段  把cloud_a和 n_cloud_b字段连接 一起创建 p_n_cloud_c)
    pcl::concatenateFields (cloud_a, n_cloud_b, p_n_cloud_c);
    std::cerr << "Cloud C: " << std::endl;
    for (size_t i = 0; i < p_n_cloud_c.points.size (); ++i)
      std::cerr << "    " <<
        p_n_cloud_c.points[i].x << " " << p_n_cloud_c.points[i].y << " " << p_n_cloud_c.points[i].z << " " <<
        p_n_cloud_c.points[i].normal[0] << " " << p_n_cloud_c.points[i].normal[1] << " " << p_n_cloud_c.points[i].normal[2] << std::endl;
  }
  return (0);
}

CMakeLists.txt：

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(ch2_2)

find_package(PCL 1.2 REQUIRED)

include_directories($PC{L}_{I}NCLUD{E}_{D}IRS)lin{k}_{d}irectories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (concatenate_clouds concatenate_clouds.cpp)
target_link_libraries (concatenate_clouds ${PCL_LIBRARIES})
编译执行后的结果，仔细研究看一下就可以看出点云连接和字段间连接的区别，字段间连接是在行的基础后连接，而点云连接是在列的下方连接，最重要的就是要考虑维度问题，同时每个点云都有XYZ三个数据值
字段间连接：

点云连接