点云文件--las转pcd

1.las文件查看

下载cloudcompare

sudo snap install cloudcompare

打开cloudcompare图像查看窗口

cloudcompare.ccViewer

打开cloudcompar软件

cloudcompare.CloudCompare

2.liblas安装

下载liblas软件源码：https://liblas.org/download.html

cd liblas
mkdir build
cd build
cmake -G "Unix Makefiles" ../
make
sudo make install

查看安装是否完成，查看一个las文件的相关信息

lasinfo ***.las

3.las转pcd代码

las2pcd.cpp

#include <liblas/liblas.hpp>
#include <fstream>
#include <iostream>
#include <string>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <time.h>
using namespace std;
int main()
{
	clock_t sT, tT,eT;
	std::ifstream fp;
	fp.open("../input.las",ios::in|ios::binary);
	sT = clock();
	liblas::ReaderFactory readerFactory;
	liblas::Reader reader = readerFactory.CreateWithStream(fp);
	tT = clock();
	cout << "读取" << reader.GetHeader().GetPointRecordsCount() <<"个点花费"<<(double)(tT-sT)/CLOCKS_PER_SEC<<"s"<<endl;
	pcl::PointCloud<pcl::PointXYZ> cloudOutput;
	cloudOutput.clear();

	while (reader.ReadNextPoint())
	{
		double x = reader.GetPoint().GetX();
		double y = reader.GetPoint().GetY();
		double z = reader.GetPoint().GetZ();
                pcl::PointXYZ thePt(x,y,z);
		cloudOutput.push_back(thePt);
	}
	cloudOutput.width = cloudOutput.size();
	cloudOutput.height = 1;
	cloudOutput.is_dense = false;
	cloudOutput.resize(cloudOutput.width*cloudOutput.height);
	pcl::io::savePCDFileASCII("../output.pcd",cloudOutput);
	cloudOutput.clear();
	eT = clock();
	cout << "存入" << reader.GetHeader().GetPointRecordsCount() << "个点花费" << (double)(eT - tT) / CLOCKS_PER_SEC << "s" << endl;
	return 0;
}

CMakeLists.txt

    cmake_minimum_required(VERSION 2.6)
    project(main)
     
    find_package(PCL 1.2 REQUIRED)
    find_package(libLAS REQUIRED)
    
    message("include: "${libLAS_INCLUDE_DIRS})
    message("libraries: "${libLAS_LIBRARIES})
     
    include_directories(${PCL_INCLUDE_DIRS} ${libLAS_INCLUDE_DIRS})
    link_directories(${PCL_LIBRARY_DIRS})
    add_definitions(${PCL_DEFINITIONS})
    
    find_package(Boost REQUIRED COMPONENTS serialization system filesystem program_options thread)
    if(Boost_FOUND)
    include_directories(${Boost_INCLUDE_DIRS})
    link_directories(${Boost_LIBRARY_DIRS})
    add_definitions(-DBOOST_ALL_DYN_LINK)
    endif()
    
    add_executable(main main.cpp)
     
    target_link_libraries (main ${PCL_LIBRARIES} ${libLAS_LIBRARIES} ${Boost_LIBRARIES} -lpthread -lm)
     
    install(TARGETS main RUNTIME DESTINATION bin)