PCL包围盒（详细介绍）

PCL包围盒（详细介绍）

代码如下：

#include <pcl/features/moment_of_inertia_estimation.h>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <boost/thread/thread.hpp>

#include <pcl/visualization/cloud_viewer.h>

int main (int argc, char** argv)
{
  if (argc != 2)
    return (0);
  
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
  if (pcl::io::loadPCDFile (argv[1], *cloud) == -1)
    return (-1);
  
  
  pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
  feature_extractor.setInputCloud (cloud); //default clould
  feature_extractor.compute ();

  std::vector <float> moment_of_inertia;  //惯性距
  std::vector <float> eccentricity;  //离心率
  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;     //包围盒绕轴旋转的角度
  float major_value, middle_value, minor_value; //eigen是计算矩阵的开源库
  Eigen::Vector3f major_vector, middle_vector, minor_vector;
  Eigen::Vector3f mass_center;   //包围盒的中心点

  feature_extractor.getMomentOfInertia (moment_of_inertia); //特征提取获取惯性距
  feature_extractor.getEccentricity (eccentricity);  //特征提取获取离心率
  feature_extractor.getAABB (min_point_AABB, max_point_AABB); //特征提取AABB
  feature_extractor.getOBB (min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB); //特征提取OBB ，position是OBB中心相对AABB中心移动的位移
  feature_extractor.getEigenValues (major_value, middle_value, minor_value); //获取特征值
  feature_extractor.getEigenVectors (major_vector, middle_vector, minor_vector); //特征向量
  feature_extractor.getMassCenter (mass_center); //获取最大质心

  //boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("点云库PCL学习教程第二版-基于惯性矩与偏心率的描述子"));
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (1, 1, 1); //背景
  viewer->addCoordinateSystem (1.0); //添加坐标系
  viewer->initCameraParameters ();  //初始化相机参数
  viewer->addPointCloud<pcl::PointXYZ> (cloud,pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>(cloud,0,255,0), "sample cloud");
  viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,5,"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, 0.0, 0.0, "AABB"); //添加正方形
   viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY,0.1,"AABB");  //设置对应点连线
    viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,4,"AABB");  //设置对应点连线的宽度
  Eigen::Vector3f position (position_OBB.x, position_OBB.y, position_OBB.z); //向量位置
  std::cout<<"position_OBB: "<<position_OBB<<endl;
  std::cout<<"mass_center: "<<mass_center<<endl;
  Eigen::Quaternionf quat (rotational_matrix_OBB);  //四元用法
  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_COLOR,0,0,1,"OBB");
  viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY,0.1,"OBB");
  viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,4,"OBB");
  viewer->setRepresentationToWireframeForAllActors();
  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");
  viewer->addLine (1,1,1,10,10,10, 0.0f, 0.0f, 1.0f, "minor eigen vector");
  std::cout<<"size of cloud :"<<cloud->points.size()<<endl;
  std::cout<<"moment_of_inertia :"<<moment_of_inertia.size()<<endl;
  std::cout<<"eccentricity :"<<eccentricity.size()<<endl;


  Eigen::Vector3f p1 (min_point_OBB.x, min_point_OBB.y, min_point_OBB.z);
  Eigen::Vector3f p2 (min_point_OBB.x, min_point_OBB.y, max_point_OBB.z);
  Eigen::Vector3f p3 (max_point_OBB.x, min_point_OBB.y, max_point_OBB.z);
  Eigen::Vector3f p4 (max_point_OBB.x, min_point_OBB.y, min_point_OBB.z);
  Eigen::Vector3f p5 (min_point_OBB.x, max_point_OBB.y, min_point_OBB.z);
  Eigen::Vector3f p6 (min_point_OBB.x, max_point_OBB.y, max_point_OBB.z);
  Eigen::Vector3f p7 (max_point_OBB.x, max_point_OBB.y, max_point_OBB.z);
  Eigen::Vector3f p8 (max_point_OBB.x, max_point_OBB.y, min_point_OBB.z);

  p1 = rotational_matrix_OBB * p1 + position;
  p2 = rotational_matrix_OBB * p2 + position;
  p3 = rotational_matrix_OBB * p3 + position;
  p4 = rotational_matrix_OBB * p4 + position;
  p5 = rotational_matrix_OBB * p5 + position;
  p6 = rotational_matrix_OBB * p6 + position;
  p7 = rotational_matrix_OBB * p7 + position;
  p8 = rotational_matrix_OBB * p8 + position;

  pcl::PointXYZ pt1 (p1 (0), p1 (1), p1 (2));
  pcl::PointXYZ pt2 (p2 (0), p2 (1), p2 (2));
  pcl::PointXYZ pt3 (p3 (0), p3 (1), p3 (2));
  pcl::PointXYZ pt4 (p4 (0), p4 (1), p4 (2));
  pcl::PointXYZ pt5 (p5 (0), p5 (1), p5 (2));
  pcl::PointXYZ pt6 (p6 (0), p6 (1), p6 (2));
  pcl::PointXYZ pt7 (p7 (0), p7 (1), p7 (2));
  pcl::PointXYZ pt8 (p8 (0), p8 (1), p8 (2));

  viewer->addLine (pt1, pt2, 1.0, 0.0, 0.0, "1 edge");
  viewer->addLine (pt1, pt4, 1.0, 0.0, 0.0, "2 edge");
  viewer->addLine (pt1, pt5, 1.0, 0.0, 0.0, "3 edge");
  viewer->addLine (pt5, pt6, 1.0, 0.0, 0.0, "4 edge");
  viewer->addLine (pt5, pt8, 1.0, 0.0, 0.0, "5 edge");
  viewer->addLine (pt2, pt6, 1.0, 0.0, 0.0, "6 edge");
  viewer->addLine (pt6, pt7, 1.0, 0.0, 0.0, "7 edge");
  viewer->addLine (pt7, pt8, 1.0, 0.0, 0.0, "8 edge");
  viewer->addLine (pt2, pt3, 1.0, 0.0, 0.0, "9 edge");
  viewer->addLine (pt4, pt8, 1.0, 0.0, 0.0, "10 edge");
  viewer->addLine (pt3, pt4, 1.0, 0.0, 0.0, "11 edge");
  viewer->addLine (pt3, pt7, 1.0, 0.0, 0.0, "12 edge");
  
  
 
  while(!viewer->wasStopped())
  {
    viewer->spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }

  return (0);
}