使用pcl批量显示pcd点云数据

最新推荐文章于 2024-03-20 14:24:46 发布

小巫山云子

最新推荐文章于 2024-03-20 14:24:46 发布

阅读量608

点赞数

分类专栏： Pcl Linux 人工智能文章标签： c++ 开发语言自动驾驶

本文链接：https://blog.csdn.net/SmallPink0713/article/details/128778353

版权

人工智能同时被 3 个专栏收录

25 篇文章 0 订阅

订阅专栏

Pcl

9 篇文章 1 订阅

订阅专栏

Linux

8 篇文章 0 订阅

订阅专栏

使用pcl批量显示pcd点云数据，输出点云数据流视频,完整代码：

#include <iostream>
#include <vector>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <iostream>
#include <fstream>
 
std::vector<boost::filesystem::path> streamPcd(std::string dataPath)
{
    std::vector<boost::filesystem::path> paths(boost::filesystem::directory_iterator{dataPath}, boost::filesystem::directory_iterator{});
    // sort files in accending order so playback is chronological
    sort(paths.begin(), paths.end());

    return paths;
}

std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> loadpt(std::vector<boost::filesystem::path> stream)
{
    auto streamIterator = stream.begin();
    std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> array;
    int i = 0;
    while(streamIterator != stream.end()){
        pcl::PointCloud<pcl::PointXYZI>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZI>);
        std::string ss((*streamIterator).string());
        std::cout<< ss << std::endl;
        pcl::io::loadPCDFile(ss, *cloud1);
        array.push_back(cloud1);
        streamIterator++;
        i++;
//        if (i==1000){
//            break;
//        }
    }
    return array;
}

int main()
{
    std::string path = "/home/pcd/";// 此处改成你的pcd文件路径
    std::vector<boost::filesystem::path> stream = streamPcd(path);
    std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> array = loadpt(stream);
    int i = 0;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    while (!viewer->wasStopped()) {
        viewer->removePointCloud("sample cloud");
        viewer->addPointCloud<pcl::PointXYZI>(array[i], "sample cloud");
        viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
        i = (i+1) % 1000;
        viewer->spinOnce (100);
	}
    return 0;
}

CmakeLists文件：

cmake_minimum_required(VERSION 3.5)
project(main)
 
find_package(PCL 1.2 REQUIRED)
find_package(Boost COMPONENTS program_options REQUIRED )
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(${PROJECT_NAME} main.cpp)
 
target_link_libraries (${PROJECT_NAME} ${PCL_LIBRARIES} ${Boost_LIBRARIES})