c++绘制三维空间圆的散点图

空间圆的散点图"/>

c++绘制三维空间圆的散点图

三维空间圆形式如下：

三维空间圆的参数方程：


PCL绘制3D圆轨迹c++代码：

//center 为圆心，normal 为圆法向量， Radius为半径
pcl::visualization::PCLVisualizer::Ptr Plot3DCircle(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud,pcl::PointXYZ center,pcl::Normal normal,float Radius)
{float cx = center.x, cy = center.y, cz = center.z;
//    float nx = normal.normal_x, ny = normal.normal_y, nz = normal.normal_z;float r = Radius;Eigen::Vector3f i(1.0, 0.0, 0.0);Eigen::Vector3f j(0.0, 1.0, 0.0);Eigen::Vector3f k(0.0, 0.0, 1.0);Eigen::Vector3f n(normal.normal_x, normal.normal_y, normal.normal_z);Eigen::Vector3f a(0.0, 0.0, 0.0);Eigen::Vector3f b(0.0, 0.0, 0.0);// 求向量aa = n.cross(i);if(a.norm() == 0.0){a = n.cross(j);}if(a.norm() == 0.0){a = n.cross(k);}// 求向量 bb = n.cross(a);// 归一化a，b（圆面两个互垂直向量）a.normalize();b.normalize();//利用空间圆的参数方程生成圆float xi, yi, zi;float t = -180.0;float angle = (t / 180.0)*PI;std::vector<float> x, y, z;while (-180.0 <= t & t <= 180.0){xi = cx + r*(a[0]*cos(angle) + b[0]*sin(angle));yi = cy + r*(a[1]*cos(angle) + b[1]*sin(angle));zi = cz + r*(a[2]*cos(angle) + b[2]*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 CirclePointsCloud(new pcl::PointCloud<pcl::PointXYZ>);//定义cloudPoints大小,无序点云CirclePointsCloud->resize(x.size());for (int i = 0; i < x.size(); i++){//将三维坐标赋值给PCL点云坐标(*CirclePointsCloud)[i].x = x[i];(*CirclePointsCloud)[i].y = y[i];(*CirclePointsCloud)[i].z = z[i];}//圆心点云设置//设置点云颜色pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));viewer->setBackgroundColor(0, 0, 0.5);viewer->addCoordinateSystem(0.1);pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> CirclePointsCloud_color(CirclePointsCloud, 255, 0, 0);//点云颜色渲染viewer->addPointCloud(CirclePointsCloud, CirclePointsCloud_color, "CircleCloud");//设置点云大小viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "CircleCloud");
//	viewer->resetCamera();viewer->initCameraParameters();return (viewer);
}

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