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。
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main(int argc,char** argv)
{
if(argc!=2)
{
std::cerr<<"please specify command line arg '-f' or '-p'"<<std::endl;
exit(0);
}
pcl::PointCloud<pcl::PointXYZ> cloud_a,cloud_b,cloud_c;
pcl::PointCloud<pcl::Normal> n_cloud_b; //存储进行连接时需要的normal点云
pcl::PointCloud<pcl::PointNormal> p_n_cloud_c; //存储连接XYZ与normal后的点云
// 创建点云
cloud_a.width=5;
cloud_a.height=cloud_b.height=n_cloud_b.height=1;
cloud_a.points.resize(cloud_a.width*cloud_a.height);
if(strcmp(argv[1],"-p")==0)
{
cloud_b.width=3;
cloud_b.points.resize(cloud_b.width*cloud_b.height);
}
else{
n_cloud_b.width=5;
n_cloud_b.points.resize(n_cloud_b.width*n_cloud_b.height);
}
for(size_t i=0;i<cloud_a.points.size();++i)
{
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)
{
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)
{
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<<"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;
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
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;
//拷贝点云数据
if(strcmp(argv[1],"-p")==0)
{
cloud_c=cloud_a;
cloud_c+=cloud_b;
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
{
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);
}
1.
if(argc!=2)
{
std::cerr<<"please specify command line arg '-f' or '-p'"<<std::endl;
exit(0);
}
这段代码就是判断你主函数参数是否都输入的;
2.
pcl::PointCloud<pcl::Normal> n_cloud_b; //存储进行连接时需要的normal点云
pcl::PointCloud<pcl::PointNormal> p_n_cloud_c; //存储连接XYZ与normal后的点云
pcl::Normal是创建Normal类型的点(定点在样本曲面上的法线方向,以及对应的曲率测量值)访问的方式是 point[i].data_n[0]、point[i].normal[0]这种方式。(原因在于结构体的定义结构不一样)
pcl::PointNormal是存储XYZ数据的结构体,并且包括采样点的对应法线和曲率。
3.
if(strcmp(argv[1],"-p")==0)
{
cloud_b.width=3;
cloud_b.points.resize(cloud_b.width*cloud_b.height);
}
else{
n_cloud_b.width=5;
n_cloud_b.points.resize(n_cloud_b.width*n_cloud_b.height);
}
strcmp(argv[1],"-p")就是判断用户是否打-p 如果打-p 执行下面的程序
else{}//连接XYZ与normal则生成3个法线
4.pcl::concatenateFields(cloud_a,n_cloud_b,p_n_cloud_c);就是完成连接点云(注意是竖着合并)
结果就不放了。