使用PCL在两点云之间进行碰撞检测 [英] Collison Detection between two point clouds using PCL

问题描述

给出两个点云，使得一个点云是静态的，而另一个是移动障碍.我们要在空间中移动移动点云障碍物，并记下它是否与该位置的静态点云相交.PCL中有可用的功能来自动执行此操作吗?还是我们必须编写自己的函数才能执行此操作?

Given two point clouds such that one point cloud is static whereas other is mobile obstacle. We want to move the mobile point cloud obstacle in space and note down whether it is intersecting with the static point cloud at that position. Is there a function available in PCL to do this automatically or do we have to write our own function to do the same?

推荐答案

fcl (Flexible Collision Library)库可以执行快速碰撞检测.

The fcl (Flexible Collision Library) library can do fast collision detection.

以下是受支持的不同对象形状:

Here are the supported different object shapes:

• 领域
• 盒子
• 圆锥体
• 气缸
• 网格
• octree(可选，使用octomap库 http://octomap.github.com 表示octree)

• sphere
• box
• cone
• cylinder
• mesh
• octree (optional, octrees are represented using the octomap library http://octomap.github.com)

我假设您的点云是从在3D空间中占据一定体积的对象表面绘制的样本.因此，您必须将点云转换为网格或占用八叉树.

I assume your point clouds are samples drawn from the surface of objects that occupy a volume in 3D space. So, you'll have to transform your point clouds into a mesh or in an occupancy octree.

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