点云库PCL学习笔记 -- 输入输出IO -- 3.两个点云中的字段或数据连接

注意： 连接两个不同的点云为同一个点云之前，要确保两个数据集中字段的类型和维度相同。同时也学习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是一样的，例如，点云A是N个点的xyz点，点云B是N个点的rgb点，则连接两个字段形成的点云C是N个点的xyzrgb类型。

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点云中的字段或数据连接代码concatenate_clouds.cpp

#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;		//创建三个点云，点云中的点的类型是XYZ
  pcl::PointCloud<pcl::Normal> n_cloud_b;						//创建一个点云，点云中的点都是法向量
  pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;				//创建一个点云，点云中的点都是带法向量的点

  //填充点云数据格式
  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);

  //程序输入的为"-p"，则定义cloud_b，否则定义n_cloud_b
  //cloud_b用于点云数据拼接，n_cloud_b用于点云字段拼接
  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);
  }

  //采用随机数填充点云数据
  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);
  }
  
  //根据输入的字段，采用随机数填充分别填充cloud_b，n_cloud_b点云数据
  if (strcmp(argv[1], "-p") == 0)
    for (std::size_t i = 0; i < cloud_b.size (); ++i)
    {
      cloud_b[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
      cloud_b[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
      cloud_b[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
    }
  else
    for (std::size_t i = 0; i < n_cloud_b.size (); ++i)
    {
      n_cloud_b[i].normal[0] = 1024 * rand () / (RAND_MAX + 1.0f);
      n_cloud_b[i].normal[1] = 1024 * rand () / (RAND_MAX + 1.0f);
      n_cloud_b[i].normal[2] = 1024 * rand () / (RAND_MAX + 1.0f);
    }
  
  //打印Cloud A点云数据
  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;

  //根据输入的字段，打印cloud_b，n_cloud_b点云数据
  if (strcmp(argv[1], "-p") == 0)
    for (std::size_t i = 0; i < cloud_b.size (); ++i)
      std::cerr << "    " << cloud_b[i].x 
      			<< " " << cloud_b[i].y 
      			<< " " << cloud_b[i].z << std::endl;
  else
    for (std::size_t i = 0; i < n_cloud_b.size (); ++i)
      std::cerr << "    " << n_cloud_b[i].normal[0] 
      			<< " " << n_cloud_b[i].normal[1] 
      			<< " " << n_cloud_b[i].normal[2] << std::endl;

  //输入"-p"，进行点云的数据拼接，用cloud_c存储
  //否则，进行点云的字段拼接，用p_n_cloud_c存储
  if (strcmp(argv[1], "-p") == 0)
  {
    cloud_c  = cloud_a;
    cloud_c += cloud_b;
    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 << " " << std::endl;
  }
  else
  {
    pcl::concatenateFields (cloud_a, n_cloud_b, p_n_cloud_c);
    std::cerr << "Cloud C: " << std::endl;
    for (std::size_t i = 0; i < p_n_cloud_c.size (); ++i)
      std::cerr << "    " << p_n_cloud_c[i].x 
      			<< " " << p_n_cloud_c[i].y 
      			<< " " << p_n_cloud_c[i].z 
      			<< " " << p_n_cloud_c[i].normal[0] 
      			<< " " << p_n_cloud_c[i].normal[1] 
      			<< " " << p_n_cloud_c[i].normal[2] << std::endl;
  }
  
  return (0);
}

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设置编译文件CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(concatenate_clouds)

find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (concatenate_clouds concatenate_clouds.cpp)
target_link_libraries (concatenate_clouds ${PCL_LIBRARIES})

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编译

mkdir build
cd build/
cmake ..
make

执行程序

cd ..
./build/concatenate_clouds -p
./build/concatenate_clouds -f

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拼接点云数据

./build/concatenate_clouds -p

结果如下：

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拼接点云字段数据

./build/concatenate_clouds -f

结果如下：

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