点云pcd文件投影到平面bev视角

最新推荐文章于 2024-07-29 14:27:08 发布

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最新推荐文章于 2024-07-29 14:27:08 发布

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分类专栏： Linux Pcl 人工智能文章标签： c++ linux

本文链接：https://blog.csdn.net/SmallPink0713/article/details/128817477

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点云pcd文件投影到平面生成bev视角，并批量保在这里插入代码片存。

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include <boost/filesystem.hpp>
#include <string>


int main() {
    std::string input_dir = "bev/200";
    std::string output_dir = "bev/200_bev";

    // Create a set of planar coefficients with X=Y=0,Z=1
    pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
    coefficients->values.resize (4);
    coefficients->values[0] = 0;
    coefficients->values[1] = 0;
    coefficients->values[2] = 1.0;
    coefficients->values[3] = 0;

    // brows the input_dir and do the same to every fpcd file
    for (auto& file : boost::filesystem::directory_iterator(input_dir)) {
        pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZI>);
        pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_bev (new pcl::PointCloud<pcl::PointXYZI>);

        if (file.path().extension() != ".pcd")continue;

        std::string input_file_path = file.path().string();
        std::string output_file_path = output_dir + "/" + file.path().stem().string() + "_projected.pcd";

        // Fill in the cloud data
        pcl::PCDReader reader;
        reader.read(input_file_path, *cloud);
        std::cout << "PointCloud before filtering has: " << cloud->points.size() << " data points." << std::endl;

        // Create the filtering object
        pcl::ProjectInliers<pcl::PointXYZI> proj;
        proj.setModelType (pcl::SACMODEL_PLANE); // 三维平面参数
        proj.setInputCloud (cloud);
        proj.setModelCoefficients (coefficients);
        proj.filter (*cloud_bev);

        std::cerr << "Cloud after projection: " << cloud_bev->points.size() << " data points." << std::endl;
        pcl::io::savePCDFileBinaryCompressed(output_file_path, *cloud_bev);

    }
    return 0;
}

对应的CMakeLists.txt文件

cmake_minimum_required(VERSION 2.8)

project(bev)

find_package(PCL 1.3 )

include_directories(${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

add_executable(${PROJECT_NAME} bev.cpp)

target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})