时间计算
pcl中计算程序运行时间有很多函数,其中利用控制台的时间计算
首先必须包含头文件 #include <pcl/console/time.h>
1 2 3 4 5 6 | #include <pcl/console/time.h> pcl::console::TicToc time ; time .tic(); //程序段 cout<< time .toc()/1000<< "s" <<endl; |
pcl::PointCloud::Ptr和pcl::PointCloud的两个类相互转换
1 2 3 4 5 6 7 8 | #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/point_cloud.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPointer( new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ> cloud; cloud = *cloudPointer; cloudPointer = cloud.makeShared(); |
查找点云的x,y,z的极值
1 2 3 4 5 6 7 | #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/common/common.h><br> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ> ( "your_pcd_file.pcd" , *cloud); pcl::PointXYZ minPt, maxPt; pcl::getMinMax3D (*cloud, minPt, maxPt); |
如果知道需要保存点的索引,如何从原点云中拷贝点到新点云?
1 2 3 4 5 6 7 8 9 10 | #include <pcl/io/pcd_io.h> #include <pcl/common/impl/io.hpp> #include <pcl/point_types.h> #include <pcl/point_cloud.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ>( "C:\office3-after21111.pcd" , *cloud); pcl::PointCloud<pcl::PointXYZ>::Ptr cloudOut( new pcl::PointCloud<pcl::PointXYZ>); std::vector< int > indexs = { 1, 2, 5 }; pcl::copyPointCloud(*cloud, indexs, *cloudOut); |
取已知索引之外的点云
1 2 3 4 5 6 7 8 9 10 | pcl::PointIndices::Ptr inliers( new pcl::PointIndices); inliers->indices = pointIdxRadiusSearchMap; //已知索引的index std::vector< int > pointIdxRadiusSearchMap; pcl::ExtractIndices<pcl::PointXYZ> extract; extract.setInputCloud(_laser3d_map); extract.setIndices(inliers); extract.setNegative( true ); //false: 筛选Index对应的点,true:过滤获取Index之外的点 extract.filter(*map_3d_2); |
如何从点云里删除和添加点?
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | #include <pcl/io/pcd_io.h> #include <pcl/common/impl/io.hpp> #include <pcl/point_types.h> #include <pcl/point_cloud.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ>( "C:\office3-after21111.pcd" , *cloud); pcl::PointCloud<pcl::PointXYZ>::iterator index = cloud->begin(); cloud->erase(index); //删除第一个 index = cloud->begin() + 5; cloud->erase(cloud->begin()); //删除第5个 pcl::PointXYZ point = { 1, 1, 1 }; //在索引号为5的位置1上插入一点,原来的点后移一位 cloud->insert(cloud->begin() + 5, point); cloud->push_back(point); //从点云最后面插入一点 std::cout << cloud->points[5].x; //输出1 |
如果删除的点太多建议用上面的方法拷贝到新点云,再赋值给原点云,如果要添加很多点,建议先resize,然后用循环向点云里的添加。
如何对点云进行全局或局部变换
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 | #include <pcl/io/pcd_io.h> #include <pcl/common/impl/io.hpp> #include <pcl/point_types.h> #include <pcl/point_cloud.h> #include <pcl/common/transforms.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud ( new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile( "path/.pcd" ,*cloud); //全局变化 //构造变化矩阵 Eigen::Matrix4f transform_1 = Eigen::Matrix4f::Identity(); float theta = M_PI/4; //旋转的度数,这里是45度 transform_1 (0,0) = cos (theta); //这里是绕的Z轴旋转 transform_1 (0,1) = - sin (theta); transform_1 (1,0) = sin (theta); transform_1 (1,1) = cos (theta); //transform_1 (0,2) = 0.3; //这样会产生缩放效果 //transform_1 (1,2) = 0.6; // transform_1 (2,2) = 1; transform_1 (0,3) = 25; //这里沿X轴平移 transform_1 (1,3) = 30; transform_1 (2,3) = 380; pcl::PointCloud<pcl::PointXYZ>::Ptr transform_cloud1 ( new pcl::PointCloud<pcl::PointXYZ>); pcl::transformPointCloud(*cloud,*transform_cloud1,transform_1); //不言而喻 |
1 | //第一个参数为输入,第二个参数为输入点云中部分点集索引,第三个为存储对象,第四个是变换矩阵pcl::transformPointCloud(*cloud,pcl::PointIndices indices,*transform_cloud1,matrix); |
链接两个点云字段(两点云大小必须相同)
1 2 3 4 5 6 7 8 9 10 11 12 13 | pcl::PointCloud<pcl::PointXYZ>::Ptr cloud ( new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile( "/home/yxg/pcl/pcd/mid.pcd" ,*cloud); pcl::NormalEstimation<pcl::PointXYZ,pcl::Normal> ne; ne.setInputCloud(cloud); pcl::search::KdTree<pcl::PointXYZ>::Ptr tree ( new pcl::search::KdTree<pcl::PointXYZ>()); ne.setSearchMethod(tree); pcl::PointCloud<pcl::Normal>::Ptr cloud_normals( new pcl::PointCloud<pcl::Normal>()); ne.setKSearch(8); //ne.setRadisuSearch(0.3); ne.compute(*cloud_normals); pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_nomal ( new pcl::PointCloud<pcl::PointNormal>); pcl::concatenateFields(*cloud,*cloud_normals,*cloud_with_nomal); |
删除无效点
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | #include <pcl/point_cloud.h> #include <pcl/point_types.h> #include <pcl/filters/filter.h> #include <pcl/io/pcd_io.h> using namespace std; typedef pcl::PointXYZRGBA point; typedef pcl::PointCloud<point> CloudType; int main ( int argc, char **argv) { CloudType::Ptr cloud ( new CloudType); CloudType::Ptr output ( new CloudType); pcl::io::loadPCDFile(argv[1],*cloud); cout<< "size is:" <<cloud->size()<<endl; vector< int > indices; pcl::removeNaNFromPointCloud(*cloud,*output,indices); cout<< "output size:" <<output->size()<<endl; pcl::io::savePCDFile( "out.pcd" ,*output); return 0; } |
xyzrgb格式转换为xyz格式的点云
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | #include <pcl/io/pcd_io.h> #include <ctime> #include <Eigen/Core> #include <pcl/point_types.h> #include <pcl/point_cloud.h> using namespace std; typedef pcl::PointXYZ point; typedef pcl::PointXYZRGBA pointcolor; int main( int argc, char **argv) { pcl::PointCloud<pointcolor>::Ptr input ( new pcl::PointCloud<pointcolor>); pcl::io::loadPCDFile(argv[1],*input); pcl::PointCloud<point>::Ptr output ( new pcl::PointCloud<point>); int M = input->points.size(); cout<< "input size is:" <<M<<endl; for ( int i = 0;i <M;i++) { point p; p.x = input->points[i].x; p.y = input->points[i].y; p.z = input->points[i].z; output->points.push_back(p); } output->width = 1; output->height = M; cout<< "size is" <<output->size()<<endl; pcl::io::savePCDFile( "output.pcd" ,*output); } |
flann kdtree 查询k近邻
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 | //平均密度计算 pcl::KdTreeFLANN<pcl::PointXYZ> kdtree; //创建一个快速k近邻查询,查询的时候若该点在点云中,则第一个近邻点是其本身 kdtree.setInputCloud(cloud); int k =2; float everagedistance =0; for ( int i =0; i < cloud->size()/2;i++) { vector< int > nnh ; vector< float > squaredistance; //pcl::PointXYZ p; //p = cloud->points[i]; kdtree.nearestKSearch(cloud->points[i],k,nnh,squaredistance); everagedistance += sqrt (squaredistance[1]); //cout<<everagedistance<<endl; } everagedistance = everagedistance/(cloud->size()/2); cout<< "everage distance is : " <<everagedistance<<endl; |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | #include <pcl/kdtree/kdtree_flann.h> pcl::KdTreeFLANN<pcl::PointXYZ> kdtree; //创建KDtree kdtree.setInputCloud (in_cloud); pcl::PointXYZ searchPoint; //创建目标点,(搜索该点的近邻) searchPoint.x = 1; searchPoint.y = 2; searchPoint.z = 3; //查询近邻点的个数 int k = 10; //近邻点的个数 std::vector< int > pointIdxNKNSearch(k); //存储近邻点集的索引 std::vector< float >pointNKNSquareDistance(k); //近邻点集的距离 if (kdtree.nearestKSearch(searchPoint,k,pointIdxNKNSearch,pointNKNSquareDistance)>0) { for ( size_t i = 0; i < pointIdxNKNSearch.size (); ++i) std::cout << " " << in_cloud->points[ pointIdxNKNSearch[i] ].x << " " << in_cloud->points[ pointIdxNKNSearch[i] ].y << " " <<in_cloud->points[ pointIdxNKNSearch[i] ].z << " (squared distance: " <<pointNKNSquareDistance[i] << ")<<std::endl; } //半径为r的近邻点 float radius = 40.0f; //其实是求的40*40距离范围内的点 std::vector< int > pointIdxRadiusSearch; //存储的对应的平方距离 std::vector< float > a; if ( kdtree.radiusSearch (searchPoint, radius, pointIdxRadiusSearch, a) > 0 ) { for ( size_t i = 0; i < pointIdxRadiusSearch.size (); ++i) std::cout << " " << in_cloud->points[ pointIdxRadiusSearch[i] ].x << " " <<in_cloud->points[ pointIdxRadiusSearch[i] ].y << " " << in_cloud->points[ pointIdxRadiusSearch[i] ].z << " (squared distance: " <<a[i] << ")" << std::endl; } |
关于ply
文件
后缀命名为.ply
格式文件,常用的点云数据文件。ply
文件不仅可以存储点
数据,而且可以存储网格
数据. 用emacs打开一个ply
文件,观察表头,如果表头element face
的值为0,则表示该文件为点云文件,如果element face
的值为某一正整数N,则表示该文件为网格文件,且包含N个网格.所以利用pcl读取 ply 文件,不能一味用pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PintT>)
来读取。在读取ply
文件时候,首先要分清该文件是点云还是网格类文件。如果是点云文件,则按照一般的点云类去读取即可,官网例子,就是这样。如果ply
文件是网格类,则需要
1 2 3 | pcl::PolygonMesh mesh; pcl::io::loadPLYFile(argv[1],mesh); pcl::io::savePLYFile( "result.ply" , mesh); |
读取。(官网例子之所以能成功,是因为它对模型进行了细分处理,使得网格变成了点)
计算点的索引
例如sift算法中,pcl无法直接提供索引(主要原因是sift点是通过计算出来的,在某些不同参数下,sift点可能并非源数据中的点,而是某些点的近似),若要获取索引,则可利用以下函数:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 | void getIndices (pointcloud::Ptr cloudin, pointcloud keypoints, pcl::PointIndices::Ptr indices) { pcl::KdTreeFLANN<pcl::PointXYZ> kdtree; kdtree.setInputCloud(cloudin); std::vector< float >pointNKNSquareDistance; //近邻点集的距离 std::vector< int > pointIdxNKNSearch; for ( size_t i =0; i < keypoints.size();i++) { kdtree.nearestKSearch(keypoints.points[i],1,pointIdxNKNSearch,pointNKNSquareDistance); // cout<<"the distance is:"<<pointNKNSquareDistance[0]<<endl; // cout<<"the indieces is:"<<pointIdxNKNSearch[0]<<endl; indices->indices.push_back(pointIdxNKNSearch[0]); } } |
其思想就是:将原始数据插入到flann的kdtree中,寻找keypoints的最近邻,如果距离等于0,则说明是同一点,提取索引即可.
计算质心
1 2 | Eigen::Vector4f centroid; //质心 pcl::compute3DCentroid(*cloud_smoothed,centroid); //估计质心的坐标 |
从网格提取顶点(将网格转化为点)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 | #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/io/obj_io.h> #include <pcl/PolygonMesh.h> #include <pcl/point_cloud.h> #include <pcl/io/vtk_lib_io.h>//loadPolygonFileOBJ所属头文件; #include <pcl/io/vtk_io.h> #include <pcl/io/ply_io.h> #include <pcl/point_types.h> using namespace pcl; <br> int main( int argc, char **argv) { pcl::PolygonMesh mesh; //pcl::io::loadPolygonFileOBJ(argv[1], mesh); pcl::io::loadPLYFile(argv[1],mesh); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZ>); pcl::fromPCLPointCloud2(mesh.cloud, *cloud); pcl::io::savePCDFileASCII( "result.pcd" , *cloud); return 0; } |
以上代码可以从.obj或.ply面片格式转化为点云类型。