使用PCL绘制空间圆

使用PCL绘制空间圆

参考算法公式：

代码：

void DisplayMessage::createTheoryCircle(Point3d planeNormal, Point3d centerPoint, double R)
{double nx = planeNormal.x, ny = planeNormal.y, nz = planeNormal.z;double cx = centerPoint.x, cy = centerPoint.y, cz = centerPoint.z;double r = R;double ux = ny, uy = -nx, uz = 0;double vx = nx*nz,vy = ny*nz,vz = -nx*nx - ny*ny;double sqrtU = sqrt(ux*ux + uy*uy + uz*uz);double sqrtV = sqrt(vx*vx + vy*vy + vz*vz);double ux_ = (1 / sqrtU)*ux;double uy_ = (1 / sqrtU)*uy;double uz_ = (1 / sqrtU)*uz;double vx_ = (1 / sqrtV)*vx;double vy_ = (1 / sqrtV)*vy;double vz_ = (1 / sqrtV)*vz;double xi, yi, zi;double t = 0;double angle = (t / 180.0)*Pi;vector<double> x, y, z;while (t < 360.0){xi = cx + r*(ux_*cos(angle) + vx_*sin(angle));yi = cy + r*(uy_*cos(angle) + vy_*sin(angle));zi = cz + r*(uz_*cos(angle) + vz_*sin(angle));x.push_back(xi);y.push_back(yi);z.push_back(zi);t = t + 1;angle = (t / 180.0)*Pi;}pcl::PointCloud<pcl::PointXYZ>::Ptr theroyCirclePoints(new pcl::PointCloud<pcl::PointXYZ>);//定义cloudPoints大小,无序点云theroyCirclePoints->resize(x.size());for (int i = 0; i < x.size(); i++){//将三维坐标赋值给PCL点云坐标(*theroyCirclePoints)[i].x = x[i];(*theroyCirclePoints)[i].y = y[i];(*theroyCirclePoints)[i].z = z[i];}//圆心点云设置//设置点云颜色viewer->removePointCloud("theroyCircleCloud");pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> theroyCircleCloud_color(theroyCirclePoints, 255, 0, 0);//点云颜色渲染	viewer->addPointCloud(theroyCirclePoints, theroyCircleCloud_color, "theroyCircleCloud");//设置点云大小viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "theroyCircleCloud");viewer->resetCamera();ui.widget->update();}

本类用于QT显示PCL点云，可参考本栏博客QT显示PCL点云