目录
- 一、概述
- 二、代码
- 三、结果
一、概述
PCL中计算点云包围盒的简单使用案例
二、代码
moment_of_inertia.cpp
#include <vector>
#include <thread>#include <pcl/features/moment_of_inertia_estimation.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>using namespace std::chrono_literals;int main (int argc, char** argv)
{pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());if (pcl::io::loadPCDFile("rs1.pcd", *cloud) == -1)return (-1);pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;feature_extractor.setInputCloud (cloud);feature_extractor.compute ();std::vector <float> moment_of_inertia;std::vector <float> eccentricity;pcl::PointXYZ min_point_AABB;pcl::PointXYZ max_point_AABB;pcl::PointXYZ min_point_OBB;pcl::PointXYZ max_point_OBB;pcl::PointXYZ position_OBB;Eigen::Matrix3f rotational_matrix_OBB;float major_value, middle_value, minor_value;Eigen::Vector3f major_vector, middle_vector, minor_vector;Eigen::Vector3f mass_center;feature_extractor.getMomentOfInertia (moment_of_inertia);feature_extractor.getEccentricity (eccentricity);feature_extractor.getAABB (min_point_AABB, max_point_AABB);feature_extractor.getOBB (min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB);feature_extractor.getEigenValues (major_value, middle_value, minor_value);feature_extractor.getEigenVectors (major_vector, middle_vector, minor_vector);feature_extractor.getMassCenter (mass_center);pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));viewer->setBackgroundColor (0, 0, 0);viewer->addCoordinateSystem (1.0);viewer->initCameraParameters ();viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");viewer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB");viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "AABB");Eigen::Vector3f position (position_OBB.x, position_OBB.y, position_OBB.z);Eigen::Quaternionf quat (rotational_matrix_OBB);viewer->addCube (position, quat, max_point_OBB.x - min_point_OBB.x, max_point_OBB.y - min_point_OBB.y, max_point_OBB.z - min_point_OBB.z, "OBB");viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "OBB");pcl::PointXYZ center (mass_center (0), mass_center (1), mass_center (2));pcl::PointXYZ x_axis (major_vector (0) + mass_center (0), major_vector (1) + mass_center (1), major_vector (2) + mass_center (2));pcl::PointXYZ y_axis (middle_vector (0) + mass_center (0), middle_vector (1) + mass_center (1), middle_vector (2) + mass_center (2));pcl::PointXYZ z_axis (minor_vector (0) + mass_center (0), minor_vector (1) + mass_center (1), minor_vector (2) + mass_center (2));viewer->addLine (center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector");viewer->addLine (center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector");viewer->addLine (center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector");while(!viewer->wasStopped()){viewer->spinOnce (100);std::this_thread::sleep_for(100ms);}return (0);
}