PCL自定义点和点云使用

目录

自定义点云步骤

自定义点云示例

具体使用样例

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定义点步骤

1、定义自己的点云结构

2、注册这个点云结构

3、在程序中合理使用（可能不能用viewer显示了，可以保存相应文件）

自定义点示例

//第一步：自定义点云结构
struct MyPointType
{
    float x;
    float y;
    float z;
    float i;
    float ring;
    float time;
    //其它的值都可以
} ;              
//第二步： 注册这个点结构
POINT_CLOUD_REGISTER_POINT_STRUCT(MyPointType,           
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, i, i)
    (float, ring, ring)
    (float, time, time)
)
//接下来在程序中使用即可

具体使用样例

int
main(int argc, char** argv)
{
    pcl::PointCloud<MyPointType> cloud;
    cloud.points.resize(20000);
    cloud.width = 20000;
    cloud.height = 1;

    for (size_t i = 0; i < cloud.points.size(); ++i)
    {
        //std::cout << i << std::endl;
        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));
        cloud.points[i].i = 1024 * (rand() / (RAND_MAX + 1.0f));
        cloud.points[i].ring = 1024 * (rand() / (RAND_MAX + 1.0f));
        cloud.points[i].time = 10240 * (rand() / (RAND_MAX + 1.0f));
    }

    pcl::io::savePCDFileASCII("test_que.pcd", cloud);

    // Create the filtering object
    pcl::PCLPointCloud2::Ptr cloud1(new pcl::PCLPointCloud2());
    pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());

    pcl::PCDReader reader;
    reader.read("test_que.pcd", *cloud1); // Remember to download the file first!

    pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
    sor.setInputCloud(cloud1);
    sor.setLeafSize(50.0f, 50.0f, 50.0f);
    sor.filter(*cloud_filtered);

    pcl::PointCloud<MyPointType>::Ptr cloud_show(new pcl::PointCloud<MyPointType>);
    pcl::fromPCLPointCloud2(*cloud_filtered, *cloud_show);
    pcl::io::savePCDFile("test_que_re.pcd", *cloud_show);

}

参考链接：https://pcl.readthedocs.io/projects/tutorials/en/latest/adding_custom_ptype.html#adding-custom-ptype