点云连接Concat

点云库中两点云点的拼接

最新推荐文章于 2025-11-06 09:00:00 发布

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博客主要围绕点云库（PCL）展开，介绍了将两个点云的点进行拼接的相关内容，还包含实现拼接的代码以及相关参考资料。

一、介绍

Concatenate the points of two Point Clouds.

二、代码

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/common/io.h>

int main()
{
	int flag = 0;  // 0 row concat; 1 col concat.

	pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;
	pcl::PointCloud<pcl::Normal> n_cloud_b;
	pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;

	cloud_a.width = 5;
	cloud_a.height = cloud_b.height = n_cloud_b.height = 1;
	cloud_a.resize(cloud_a.width * cloud_a.height);
	if (flag == 0) {
		cloud_b.width = 3;
		cloud_b.resize(cloud_b.width * cloud_b.height);
	}
	else {
		n_cloud_b.width = 5;
		n_cloud_b.resize(n_cloud_b.width * n_cloud_b.height);
	}

	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);
	}

	if (flag == 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);
	    }

	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;
	if (flag == 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;

	if (flag == 0) {
		cloud_c = cloud_a;
		cloud_c += cloud_b; // row concat
		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);  // col concat
		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);
}