PCL库——点云数据处理

1.读取点云数据

/*依赖库文件*/
#include <pcl/io/pcd_io.h>

/*创建点云变量*/
pcl::PointCloud<pcl::PointXYZ> PointCloud;
PointCloud::Ptr cloud_in(new PointCloud);
/*文件路径*/
std::string filename = "***/***/***.pcd";
/*读取文件*/
if(pcl::io::loadPCDFile<pcl::PointXYZ>(filename, *cloud_in))
{
    std::cout << "load pcd file fail!" << std::endl;
    return -1;
}

2.保存点云数据

/*依赖库文件*/
#include <pcl/io/pcd_io.h>

/*待存储点云数据*/
pcl::PointCloud<pcl::PointXYZ> PointCloud;
pcl::PointCloud::Ptr cloud_out(new PointCloud);
/*目标存储文件*/
std::string pcd_file = "***/***/***.pcd";
std::string bin_file = "***/***/***.bin";
/*保存点云数据*/
/*wauy 1*/
pcl::PCDWriter writer;
writer.write(pcd_file, *cloud_out);
/*way 2*/
pcl::io::savePCDFileBinary(bin_file, *cloud_out);
pcl::io::savePCDFileASCII(pcd_file, *cloud_out);

3.显示点云数据

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("cloud show"));
int v1 = 0;
viewer->createViewPort(0, 0, 1.0, 1.0, v1);/*创建查看窗口*/
viewer->setBackgroundColor(255,255, 255, v1);/*窗口背景颜色设置*/
viewer->setBackgroundColor(255,255, 255);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> raw(cloud, 0, 0, 0);/*设置点云对应颜色*/
viewer->addPointCloud(cloud, raw, "source cloud", v1);/*设置好的点云加入窗口*/
while (!viewer->wasStopped())
{
    viewer->spinOnce(100);
    boost::this_thread::sleep(boost::posix_time::microseconds(10000));
}
system("pause");
return 0;

4.寻找坐标极值

pcl::PointXYZ minPt, maxPt;
pcl::getMinMax3D(*cloud, minPt, maxPt);