PCL自学笔记 2022-3-28

从PCD文件中读取点云

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

int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud< pcl::PointXYZ>); //共享指针

	if (pcl::io::loadPCDFile<pcl::PointXYZ>("mydata.pcd", *cloud) == -1)  //打开点云文件
	{
		PCL_ERROR("Couldn't read file mydata.pcd\n");
		return 0;
	} 
	for (size_t i = 0; i < cloud->points.size(); i++)
	{
		std::cout << " " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << std::endl;
	} //打印数据

	return 0;
}

运行结果

向PCD文件中写入点云数据

int main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud;

	cloud.width = 5;
	cloud.height = 1;
	cloud.is_dense = false;
	cloud.points.resize(cloud.width * cloud.height);

	for (size_t i = 0; i < cloud.points.size(); i++)
	{
		cloud.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	pcl::io::savePCDFileASCII("save_data.pcd", cloud);
	return 0;
}

保存的点云文件

点云连接

两个点云数据连接

int main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud_a;
	pcl::PointCloud<pcl::PointXYZ> cloud_b;
	pcl::PointCloud<pcl::PointXYZ> cloud_c;

	cloud_a.width = 3;
	cloud_b.width = 2;
	cloud_a.height = cloud_b.height = 1;
	cloud_a.is_dense = cloud_b.is_dense = false;
	cloud_a.points.resize(cloud_a.width * cloud_a.height);
	cloud_b.points.resize(cloud_b.width * cloud_b.height);
	for (size_t i = 0; i < cloud_a.points.size(); i++)
	{
		cloud_a.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	for (size_t i = 0; i < cloud_b.points.size(); i++)
	{
		cloud_b.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_b.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_b.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	cloud_c = cloud_a + cloud_b;

	std::cerr << "Cloud_A" << std::endl;
	for (size_t i = 0; i < cloud_a.points.size(); i++)
	{
		std::cout << " " << cloud_a.points[i].x << " " << cloud_a.points[i].y << " " << cloud_a.points[i].z << std::endl;
	}
	std::cerr << "Cloud_B" << std::endl;
	for (size_t i = 0; i < cloud_b.points.size(); i++)
	{
		std::cout << " " << cloud_b.points[i].x << " " << cloud_b.points[i].y << " " << cloud_b.points[i].z << std::endl;
	}
	std::cerr << "Cloud_C" << std::endl;
	for (size_t i = 0; i < cloud_c.points.size(); i++)
	{
		std::cout << " " << cloud_c.points[i].x << " " << cloud_c.points[i].y << " " << cloud_c.points[i].z << std::endl;
	}
}

运行结果·

两个点云数据连接

int main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud_a;
	pcl::PointCloud<pcl::Normal> cloud_b;
	pcl::PointCloud<pcl::PointNormal> cloud_c;

	cloud_a.width = 3;
	cloud_b.width = 3;
	cloud_a.height = cloud_b.height = 1;
	cloud_a.is_dense = cloud_b.is_dense = false;
	cloud_a.points.resize(cloud_a.width * cloud_a.height);
	cloud_b.points.resize(cloud_b.width * cloud_b.height);
	for (size_t i = 0; i < cloud_a.points.size(); i++)
	{
		cloud_a.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_a.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	for (size_t i = 0; i < cloud_b.points.size(); i++)
	{
		cloud_b.points[i].normal[0] = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_b.points[i].normal[1] = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_b.points[i].normal[2] = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	pcl::concatenateFields(cloud_a, cloud_b, cloud_c);

	std::cerr << "Cloud_A" << std::endl;
	for (size_t i = 0; i < cloud_a.points.size(); i++)
	{
		std::cout << " " << cloud_a.points[i].x << " " << cloud_a.points[i].y << " " << cloud_a.points[i].z << std::endl;
	}
	std::cerr << "Cloud_B" << std::endl;
	for (size_t i = 0; i < cloud_b.points.size(); i++)
	{
		std::cout << " " << cloud_b.points[i].normal[0] << " " << cloud_b.points[i].normal[1] << " " << cloud_b.points[2].normal[0] << std::endl;
	}
	std::cerr << "Cloud_C" << std::endl;
	for (size_t i = 0; i < cloud_c.points.size(); i++)
	{
		std::cout << " " << cloud_c.points[i].x << " " << cloud_c.points[i].y << " " << cloud_c.points[i].z << 
			" " << cloud_c.points[i].normal[0] << " " << cloud_c.points[i].normal[1] << " " << cloud_c.points[i].normal[2] << std::endl;
	}
}

运行结果