PCL生成线段点云

• 生成三角形
• 生成平行四边形
• 生成凸包

pcl 生成线段点云

pcl官方有生成球体、圆柱体、圆锥体的相关函数，似乎没有生成线段的函数，正好有需要，所以自己写了两个，分别是根据数量和步长生成。

原理

原理很简单，已知两个三维点p1,p2,求出方向向量和向量p1p2的模，再根据设置的点的数量和步长添加进点云。

// 根据数量
void creatseg(pcl::PointXYZ& p1, pcl::PointXYZ& p2, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, int num) {
    
    
    Eigen::Vector3d k(p1.x - p2.x, p1.y - p2.y, p1.z - p2.z);
    if (num<1){
    
    
        print_highlight("点的数量应为大于0的整数");
    }
    else {
    
    
        double delt = k.norm() / num;
        k = k / k.norm();
        cloud->points.resize(num);
        for (auto i = 0; i < num; ++i) {
    
    
            cloud->points[i].x = p2.x + delt * i * k[0];
            cloud->points[i].y = p2.y + delt * i * k[1];
            cloud->points[i].z = p2.z + delt * i * k[2];
        }
        cloud->push_back(p1);
        cloud->push_back(p2);
    }
}

// 根据步长
void creatsegment(pcl::PointXYZ& p1, pcl::PointXYZ& p2, pcl::PointCloud<pcl::PointXYZ> ::Ptr cloud, double delt) {
    
    
    Eigen::Vector3d k(p1.x - p2.x, p1.y - p2.y, p1.z - p2.z);
    int num = k.norm() / delt;
    k = k / k.norm();
    cloud->points.resize(num);
    for (auto i = 0; i < num; ++i) {
    
    
        cloud->points[i].x = p2.x + delt * i * k[0];
        cloud->points[i].y = p2.y + delt * i * k[1];
        cloud->points[i].z = p2.z + delt * i * k[2];
    }
    cloud->push_back(p1);
    cloud->push_back(p2);

}

测试代码如下

#include <pcl/PCLPointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/uniform_sampling.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>

using namespace std;
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;

void creatseg(pcl::PointXYZ& p1, pcl::PointXYZ& p2, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, int num) {
    
    
    Eigen::Vector3d k(p1.x - p2.x, p1.y - p2.y, p1.z - p2.z);
    if (num<1){
    
    
        print_highlight("点的数量应为大于0的整数");
    }
    else {
    
    
        double delt = k.norm() / num;
        k = k / k.norm();
        cloud->points.resize(num);
        for (auto i = 0; i < num; ++i) {
    
    
            cloud->points[i].x = p2.x + delt * i * k[0];
            cloud->points[i].y = p2.y + delt * i * k[1];
            cloud->points[i].z = p2.z + delt * i * k[2];
        }
        cloud->push_back(p1);
        cloud->push_back(p2);
    }
}

void creatsegment(pcl::PointXYZ& p1, pcl::PointXYZ& p2, pcl::PointCloud<pcl::PointXYZ> ::Ptr cloud, double delt) {
    
    
    Eigen::Vector3d k(p1.x - p2.x, p1.y - p2.y, p1.z - p2.z);
    int num = k.norm() / delt;
    k = k / k.norm();
    cloud->points.resize(num);
    for (auto i = 0; i < num; ++i) {
    
    
        cloud->points[i].x = p2.x + delt * i * k[0];
        cloud->points[i].y = p2.y + delt * i * k[1];
        cloud->points[i].z = p2.z + delt * i * k[2];
    }
    cloud->push_back(p1);
    cloud->push_back(p2);

}

int main() {
    
    
    pcl::PointXYZ P1(12, 2.3, 7.89), P2(0, 0, 0);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    creatseg(P1, P2, cloud, 10000);
    pcl::io::savePCDFile("line.pcd",*cloud);
    creatsegment(P1, P2, cloud, 0.0001);
    pcl::io::savePCDFile("segment.pcd", *cloud);
}

生成的线段如下图。