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。
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);
}
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})
编译
mkdir build
cd build/
cmake ..
make
执行程序
cd ..
./build/concatenate_clouds -p
./build/concatenate_clouds -f
拼接点云数据
./build/concatenate_clouds -p
结果如下:
拼接点云字段数据
./build/concatenate_clouds -f
结果如下: