pcl生成一个外半径是100内半径是80的圆环内部点云为随机生成模式

以下是使用PCL库生成外半径为100，内半径为80的圆环，并添加随机点云的示例代码：

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/surface/concave_hull.h>
#include <pcl/surface/mls.h>
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <ctime>

int main ()
{
  srand(static_cast<unsigned int>(time(0)));

  // Generate outer ring point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ring(new pcl::PointCloud<pcl::PointXYZ>);
  for (float angle = 0; angle <= 360; angle += 0.1)
  {
    pcl::PointXYZ point;
    point.x = 100*cos(angle*M_PI/180);
    point.y = 100*sin(angle*M_PI/180);
    point.z = 0;
    cloud_ring->points.push_back(point);
  }

  // Generate inner ring point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_hole(new pcl::PointCloud<pcl::PointXYZ>);
  for (float angle = 0; angle <= 360; angle += 0.1)
  {
    pcl::PointXYZ point;
    point.x = 80*cos(angle*M_PI/180);
    point.y = 80*sin(angle*M_PI/180);
    point.z = 0;
    cloud_hole->points.push_back(point);
  }

  // Combine point clouds
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  *cloud = *cloud_ring;
  *cloud += *cloud_hole;

  // Add random noise
  for (int i = 0; i < cloud->size(); ++i)
  {
    float noise_x = static_cast<float>(rand())/RAND_MAX*10-5;
    float noise_y = static_cast<float>(rand())/RAND_MAX*10-5;
    float noise_z = static_cast<float>(rand())/RAND_MAX*10-5;
    cloud->points[i].x += noise_x;
    cloud->points[i].y += noise_y;
    cloud->points[i].z += noise_z;
  }

  // Visualize point cloud
  pcl::visualization::CloudViewer viewer("PointCloud Viewer");
  viewer.showCloud(cloud);

  while (!viewer.wasStopped())
  {
  }

  return 0;
}

该代码首先生成了外半径为100，内半径为80的圆环的点云，然后生成了内部随机点云，最后将两个点云合并并可视化。可以根据需要调整噪声的程度