PCL库关于PCD文件的读写点云数据操作

  前面已经简单说明了PCL库中I/O模块所具备的基本功能，以及里面各个类的功能等。详细信息可参考:https://blog.csdn.net/CFH1021/article/details/121638948?spm=1001.2014.3001.5502
 那么今天主要来说明，怎么使用I/O模块中的类或者函数接口， 来操作PCD文件，例如读操作和写操作。

#include <iostream>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>

void print_cloud(pcl::PointCloud<pcl::PointXYZ> &cloud);
void read_pcd_file(std::string &file_name);
void save_pcd_file(std::string &file_name);

int main(int argc, char** argv){
    int op_type;
    std::cout << "input operate type(1. read pcd; 2. save pcd):" << std::endl;
    std::cin >> op_type;

    std::string file_name = "test.pcd";
    switch (op_type){
        case 1:
            std::cout << "read pcd file." << std::endl;
            read_pcd_file(file_name);
            break;
        case 2:
            std::cout << "save pcd file." << std::endl;
            save_pcd_file(file_name);
            break;
        default:
            std::cerr << "Don't support this operate-type: " << op_type << std::endl;
            break;
    };
    return  0;
}

void print_cloud(pcl::PointCloud<pcl::PointXYZ> &cloud){
    std::cout << "point data: " << std::endl;
    for (size_t i = 0; i < cloud.points.size(); ++i){
        std::cout << "\t" << "(" << cloud.points[i].x << ", "
                  << cloud.points[i].y << ", " << cloud.points[i].z
                  << ")" << std::endl;
    }
}

void read_pcd_file(std::string &file_name){
	// 创建cloud对象
    pcl::PointCloud<pcl::PointXYZ> cloud;
    // 加载指定的pcd文件
    int ret = pcl::io::loadPCDFile(file_name, cloud);
    // 若返回值为-1，表示文件不可读
    if (-1 == ret){
        std::cerr << "Couldn't read file " << file_name << std::endl;
        return;
    }
    // 打印file_name文件中的点云数据信息。
    print_cloud(cloud);
}

void save_pcd_file(std::string &file_name){
	// 创建cloud对象
    pcl::PointCloud<pcl::PointXYZ> cloud;
    srand((uint32_t)time(nullptr));
	// 创建点云，并设置相应的参数
    cloud.width = 5;
    cloud.height = 1;
    cloud.points.resize(cloud.width * cloud.height);
	// 利用随机数生成的值，填充cloud
    for(size_t i = 0; i < cloud.points.size(); ++i){
        cloud.points[i].x = 1024 * rand() /(RAND_MAX + 1.f);
        cloud.points[i].y = 1024 * rand() /(RAND_MAX + 1.f);
        cloud.points[i].z = 1024 * rand() /(RAND_MAX + 1.f);
    }
	// 保存点云数据到file_name pcd文件中
    pcl::io::savePCDFile(file_name, cloud);
    // 打印保存的点云数据信息
    print_cloud(cloud);
}

result：
1. save pcd file
input operate type(1. read pcd; 2. save pcd):
2
save pcd file.
point data: 
	(0.18826, -0.83058, -0.71974)
	(-0.520344, -0.175006, -0.730038)
	(0.81453, -0.0477185, 0.00141573)
	(0.884914, 0.284334, 0.831102)
	(0.803277, -0.854547, 0.415627)

2. read pcd file
input operate type(1. read pcd; 2. save pcd):
1
read pcd file.
point data: 
	(0.18826, -0.83058, -0.71974)
	(-0.520344, -0.175006, -0.730038)
	(0.81453, -0.0477185, 0.00141573)
	(0.884914, 0.284334, 0.831102)
	(0.803277, -0.854547, 0.415627)

# CMAKELists.txt文件，采用cmake的方式进行编译
cmake_minimum_required(VERSION 3.14 FATAL_ERROR)
project(pcl_test)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
include_directories(/usr/include)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(pcl_test pcl_io_test.cpp)
target_link_libraries(pcl_test
        ${PCL_LIBRARIES}
        boost_system
)