soidworks 生成PCD点云文件
2024-05-14 22:16:58
这里写自定义目录标题
- 1 soidworks转.obj
- 2 .obj文件转.pcd
soidworks 生成PCD点云文件
1 soidworks转.obj
1.1打开soidworks插件
菜单栏–工具—插件—scanto3d
注意：每次重启soildworks都需要重新选择插件
图1 打开scan to 3d
1.2
打开需要转为点云的三维图，将其另存为.stl文件
1.3
再次打开.stl文件，注意：需以网格文件形式打开，参考图3图4
图三
图4
2 .obj文件转.pcd
2.1打开VS
使用以下源码
// 调试》属性》调试>选项》命令参数》中 输入文件名.obj 输出文件名.pcd -no_vis_result
//注意输入文件要放在 工程项目文件夹中//#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/common/transforms.h>
#include <vtkVersion.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkTriangle.h>
#include <vtkTriangleFilter.h>
#include <vtkPolyDataMapper.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>inline double
uniform_deviate(int seed)
{double ran = seed * (1.0 / (RAND_MAX + 1.0));return ran;
}inline void
randomPointTriangle(float a1, float a2, float a3, float b1, float b2, float b3, float c1, float c2, float c3,float r1, float r2, Eigen::Vector3f& p)
{float r1sqr = std::sqrt(r1);float OneMinR1Sqr = (1 - r1sqr);float OneMinR2 = (1 - r2);a1 *= OneMinR1Sqr;a2 *= OneMinR1Sqr;a3 *= OneMinR1Sqr;b1 *= OneMinR2;b2 *= OneMinR2;b3 *= OneMinR2;c1 = r1sqr * (r2 * c1 + b1) + a1;c2 = r1sqr * (r2 * c2 + b2) + a2;c3 = r1sqr * (r2 * c3 + b3) + a3;p[0] = c1;p[1] = c2;p[2] = c3;
}inline void
randPSurface(vtkPolyData* polydata, std::vector<double>* cumulativeAreas, double totalArea, Eigen::Vector3f& p, bool calcNormal, Eigen::Vector3f& n, bool calcColor, Eigen::Vector3f& c)
{float r = static_cast<float> (uniform_deviate(rand()) * totalArea);std::vector<double>::iterator low = std::lower_bound(cumulativeAreas->begin(), cumulativeAreas->end(), r);vtkIdType el = vtkIdType(low - cumulativeAreas->begin());double A[3], B[3], C[3];vtkIdType npts = 0;vtkIdType* ptIds = nullptr;polydata->GetCellPoints(el, npts, ptIds);polydata->GetPoint(ptIds[0], A);polydata->GetPoint(ptIds[1], B);polydata->GetPoint(ptIds[2], C);if (calcNormal){// OBJ: Vertices are stored in a counter-clockwise order by defaultEigen::Vector3f v1 = Eigen::Vector3f(A[0], A[1], A[2]) - Eigen::Vector3f(C[0], C[1], C[2]);Eigen::Vector3f v2 = Eigen::Vector3f(B[0], B[1], B[2]) - Eigen::Vector3f(C[0], C[1], C[2]);n = v1.cross(v2);n.normalize();}float r1 = static_cast<float> (uniform_deviate(rand()));float r2 = static_cast<float> (uniform_deviate(rand()));randomPointTriangle(float(A[0]), float(A[1]), float(A[2]),float(B[0]), float(B[1]), float(B[2]),float(C[0]), float(C[1]), float(C[2]), r1, r2, p);if (calcColor){vtkUnsignedCharArray* const colors = vtkUnsignedCharArray::SafeDownCast(polydata->GetPointData()->GetScalars());if (colors && colors->GetNumberOfComponents() == 3){double cA[3], cB[3], cC[3];colors->GetTuple(ptIds[0], cA);colors->GetTuple(ptIds[1], cB);colors->GetTuple(ptIds[2], cC);randomPointTriangle(float(cA[0]), float(cA[1]), float(cA[2]),float(cB[0]), float(cB[1]), float(cB[2]),float(cC[0]), float(cC[1]), float(cC[2]), r1, r2, c);}else{static bool printed_once = false;if (!printed_once)PCL_WARN("Mesh has no vertex colors, or vertex colors are not RGB!\n");printed_once = true;}}
}void
uniform_sampling(vtkSmartPointer<vtkPolyData> polydata, std::size_t n_samples, bool calc_normal, bool calc_color, pcl::PointCloud<pcl::PointXYZRGBNormal>& cloud_out)
{polydata->BuildCells();vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys();double p1[3], p2[3], p3[3], totalArea = 0;std::vector<double> cumulativeAreas(cells->GetNumberOfCells(), 0);vtkIdType npts = 0, * ptIds = nullptr;std::size_t cellId = 0;for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds); cellId++){polydata->GetPoint(ptIds[0], p1);polydata->GetPoint(ptIds[1], p2);polydata->GetPoint(ptIds[2], p3);totalArea += vtkTriangle::TriangleArea(p1, p2, p3);cumulativeAreas[cellId] = totalArea;}cloud_out.resize(n_samples);cloud_out.width = static_cast<std::uint32_t> (n_samples);cloud_out.height = 1;for (std::size_t i = 0; i < n_samples; i++){Eigen::Vector3f p;Eigen::Vector3f n(0, 0, 0);Eigen::Vector3f c(0, 0, 0);randPSurface(polydata, &cumulativeAreas, totalArea, p, calc_normal, n, calc_color, c);cloud_out[i].x = p[0];cloud_out[i].y = p[1];cloud_out[i].z = p[2];if (calc_normal){cloud_out[i].normal_x = n[0];cloud_out[i].normal_y = n[1];cloud_out[i].normal_z = n[2];}if (calc_color){cloud_out[i].r = static_cast<std::uint8_t>(c[0]);cloud_out[i].g = static_cast<std::uint8_t>(c[1]);cloud_out[i].b = static_cast<std::uint8_t>(c[2]);}}
}using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;const int default_number_samples = 100000;
const float default_leaf_size = 0.01f;void
printHelp(int, char** argv)
{print_error("Syntax is: %s input.{ply,obj} output.pcd <options>\n", argv[0]);print_info(" where options are:\n");print_info(" -n_samples X = number of samples (default: ");print_value("%d", default_number_samples);print_info(")\n");print_info(" -leaf_size X = the XYZ leaf size for the VoxelGrid -- for data reduction (default: ");print_value("%f", default_leaf_size);print_info(" m)\n");print_info(" -write_normals = flag to write normals to the output pcd\n");print_info(" -write_colors = flag to write colors to the output pcd\n");print_info(" -no_vis_result = flag to stop visualizing the generated pcd\n");
}/* ---[ */
int
main(int argc, char** argv)
{print_info("Convert a CAD model to a point cloud using uniform sampling. For more information, use: %s -h\n",argv[0]);if (argc < 3){printHelp(argc, argv);return (-1);}// Parse command line argumentsint SAMPLE_POINTS_ = default_number_samples;parse_argument(argc, argv, "-n_samples", SAMPLE_POINTS_);float leaf_size = default_leaf_size;parse_argument(argc, argv, "-leaf_size", leaf_size);bool vis_result = !find_switch(argc, argv, "-no_vis_result");const bool write_normals = find_switch(argc, argv, "-write_normals");const bool write_colors = find_switch(argc, argv, "-write_colors");// Parse the command line arguments for .ply and PCD filesstd::vector<int> pcd_file_indices = parse_file_extension_argument(argc, argv, ".pcd");if (pcd_file_indices.size() != 1){print_error("Need a single output PCD file to continue.\n");return (-1);}std::vector<int> ply_file_indices = parse_file_extension_argument(argc, argv, ".ply");std::vector<int> obj_file_indices = parse_file_extension_argument(argc, argv, ".obj");if (ply_file_indices.size() != 1 && obj_file_indices.size() != 1){print_error("Need a single input PLY/OBJ file to continue.\n");return (-1);}vtkSmartPointer<vtkPolyData> polydata1 = vtkSmartPointer<vtkPolyData>::New();if (ply_file_indices.size() == 1){pcl::PolygonMesh mesh;pcl::io::loadPolygonFilePLY(argv[ply_file_indices[0]], mesh);pcl::io::mesh2vtk(mesh, polydata1);}else if (obj_file_indices.size() == 1){vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New();readerQuery->SetFileName(argv[obj_file_indices[0]]);readerQuery->Update();polydata1 = readerQuery->GetOutput();}//make sure that the polygons are triangles!vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New();triangleFilter->SetInputData(polydata1);triangleFilter->Update();vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New();triangleMapper->SetInputConnection(triangleFilter->GetOutputPort());triangleMapper->Update();polydata1 = triangleMapper->GetInput();pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_1(new pcl::PointCloud<pcl::PointXYZRGBNormal>);uniform_sampling(polydata1, SAMPLE_POINTS_, write_normals, write_colors, *cloud_1);// VoxelgridVoxelGrid<PointXYZRGBNormal> grid_;grid_.setInputCloud(cloud_1);grid_.setLeafSize(leaf_size, leaf_size, leaf_size);pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr voxel_cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);grid_.filter(*voxel_cloud);if (vis_result){visualization::PCLVisualizer vis3("VOXELIZED SAMPLES CLOUD");vis3.addPointCloud<pcl::PointXYZRGBNormal>(voxel_cloud);if (write_normals)vis3.addPointCloudNormals<pcl::PointXYZRGBNormal>(voxel_cloud, 1, 0.02f, "cloud_normals");vis3.spin();}if (write_normals && write_colors){savePCDFileASCII(argv[pcd_file_indices[0]], *voxel_cloud);}else if (write_normals){pcl::PointCloud<pcl::PointNormal>::Ptr cloud_xyzn(new pcl::PointCloud<pcl::PointNormal>);// Strip uninitialized colors from cloud:pcl::copyPointCloud(*voxel_cloud, *cloud_xyzn);savePCDFileASCII(argv[pcd_file_indices[0]], *cloud_xyzn);}else if (write_colors){pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_xyzrgb(new pcl::PointCloud<pcl::PointXYZRGB>);// Strip uninitialized normals from cloud:pcl::copyPointCloud(*voxel_cloud, *cloud_xyzrgb);savePCDFileASCII(argv[pcd_file_indices[0]], *cloud_xyzrgb);}else // !write_normals && !write_colors{pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);// Strip uninitialized normals and colors from cloud:pcl::copyPointCloud(*voxel_cloud, *cloud_xyz);savePCDFileASCII(argv[pcd_file_indices[0]], *cloud_xyz);}
}
2.2
预先需要将.obj文件放置于工程项目文件夹
修改以下 调试》属性》调试>选项》命令参数》以下内容》
输入文件名.obj 输出文件名.pcd -no_vis_result
注意：输入文件要放在 工程项目文件夹中//
2.3
完成后显示以下
图5
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