点云las格式转pcd格式（c++实现）

０、介绍

liblas库是一个开源库，提供了一系列对Lidar数据.las格式的读写等操作函数。

１、安装

git clone https://github.com/libLAS/libLAS.git
cd libLAS/
mkdir build && cd build
cmake ..
make
sudo make install

２、查看点云信息 

# sudo apt install liblas-bin
lasinfo test.las

３、las格式转pcd格式

main.cc:

#include <iostream>
#include <fstream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <liblas/liblas.hpp>

int main() {
    const char* lasfile = "/tmp/test.las";
    const char* pcdfile = "/tmp/test.pcd";
    std::ifstream ifs;
    ifs.open(lasfile, std::ios::in | std::ios::binary);

    liblas::ReaderFactory f;
    liblas::Reader reader = f.CreateWithStream(ifs);
    liblas::Header const& header = reader.GetHeader();

    std::cout << "Compressed: " << (header.Compressed() == true? "True" : "False") << std::endl;
    std::cout << "Signature: " << header.GetFileSignature() << std::endl;

    pcl::PointCloud<pcl::PointXYZI>::Ptr pointCloudPtr(new pcl::PointCloud<pcl::PointXYZI>);
    int count = header.GetPointRecordsCount();
    pointCloudPtr->width = 1;
    pointCloudPtr->height = count;
    pointCloudPtr->is_dense = false;
    pointCloudPtr->resize(pointCloudPtr->width * pointCloudPtr->height);

    int i = 0;
    while (reader.ReadNextPoint()) {
        liblas::Point const& p = reader.GetPoint();
        pointCloudPtr->points[i].x = p.GetX();
        pointCloudPtr->points[i].y = p.GetY();
        pointCloudPtr->points[i].z = p.GetZ();
        pointCloudPtr->points[i].intensity = p.GetIntensity();

        ++i;
    }
    pcl::io::savePCDFileASCII(pcdfile, *pointCloudPtr);

    return 0;
}

CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(test)

set(CMAKE_CXX_STANDARD 11)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

find_package(PCL 1.2 REQUIRED)
find_package(libLAS REQUIRED)

message("include: "${libLAS_INCLUDE_DIRS})
message("libraries: "${libLAS_LIBRARIES})

include_directories(${PCL_INCLUDE_DIRS} ${libLAS_INCLUDE_DIRS})
add_executable(test main.cc)
target_link_libraries(test
        ${libLAS_LIBRARIES}
        ${PCL_LIBRARIES})

参考：

https://github.com/libLAS/libLAS