open3d读取、显示和保存点云数据

1、从文件中读取点云

接口1

bool open3d::io::ReadPointCloud	(	const std::string & 	filename,
geometry::PointCloud & 	pointcloud,
const ReadPointCloudOption & 	params = {} 
)	

接口2

bool open3d::io::ReadPointCloud	(	const std::string & 	filename,
geometry::PointCloud & 	pointcloud,
const std::string & 	file_format,
bool 	remove_nan_points,
bool 	remove_infinite_points,
bool 	print_progress 
)	

接口3

从扩展名中读取点云

bool open3d::io::ReadPointCloudFromPCD	(	const std::string & 	filename,
geometry::PointCloud & 	pointcloud,
const ReadPointCloudOption & 	params 
)	

bool open3d::io::ReadPointCloudFromPLY	(	const std::string & 	filename,
geometry::PointCloud & 	pointcloud,
const ReadPointCloudOption & 	params 

2、保存点云

WritePointCloud()

bool open3d::io::WritePointCloud	(	const std::string & 	filename,
const geometry::PointCloud & 	pointcloud,
const WritePointCloudOption & 	params = {} 
)	

bool open3d::io::WritePointCloud	(	const std::string & 	filename,
const geometry::PointCloud & 	pointcloud,
bool 	write_ascii,
bool 	compressed,
bool 	print_progress 
)		

// 扩展名保存
bool open3d::io::WritePointCloudToPCD	(	const std::string & 	filename,
const geometry::PointCloud & 	pointcloud,
const WritePointCloudOption & 	params 
)		

bool open3d::io::WritePointCloudToPLY	(	const std::string & 	filename,
const geometry::PointCloud & 	pointcloud,
const WritePointCloudOption & 	params 
)	

3、读取点云

#include <iostream>
#include <Open3D/Open3D.h>

int main(int argc, char* argv[])
{

	std::string fileName("bunny.pcd");
	auto cloud_ptr = std::make_shared<open3d::geometry::PointCloud>();
	if (open3d::io::ReadPointCloud(fileName, *cloud_ptr) == 0)
	{
		open3d::utility::LogWarning("Failed to read {}\n\n", fileName);
		return -1;
	}

	cloud_ptr->NormalizeNormals(); // 将法向量归一化到1
	open3d::visualization::DrawGeometries({ cloud_ptr }, "PointCloud", 1600, 900);
	open3d::io::WritePointCloudToPCD("bunny1.pcd", *cloud_ptr, false);

	return 0;
}

读取txt格式点云

#include <iostream>
#include <Open3D/Open3D.h>

int main(int argc, char* argv[])
{
	std::string fileName("bunny.txt");
	auto cloud_ptr = std::make_shared<open3d::geometry::PointCloud>();
	if (open3d::io::ReadPointCloudFromXYZ(fileName, *cloud_ptr, {"xyz"}) == 0)
	{// 或者用open3d::io::ReadPointCloud(fileName, *cloud_ptr, { "xyz" });
		
		open3d::utility::LogWarning("Failed to read {}\n\n", fileName);
		return -1;
	}

	cloud_ptr->NormalizeNormals(); // 将法向量归一化到1
	open3d::visualization::DrawGeometries({ cloud_ptr }, "PointCloud", 1600, 900);
	open3d::io::WritePointCloudToPCD("bunny1.pcd", *cloud_ptr, false);

	return 0;
}

4、显示点云

#include <iostream>
#include <Open3D/Open3D.h>

int main(int argc, char* argv[])
{

	
	auto source = std::make_shared<open3d::geometry::PointCloud>();
	if (open3d::io::ReadPointCloud("1.pcd", *source) == 0)
	{
		open3d::utility::LogWarning("点云读取失败！！！\n");
		return -1;
	}
	if(source->HasNormals())
	source->NormalizeNormals(); // 将法向量归一化到1

	auto target = std::make_shared<open3d::geometry::PointCloud>();
	if (open3d::io::ReadPointCloud("2.pcd", *target) == 0)
	{
		open3d::utility::LogWarning("点云读取失败！！！\n\n");
		return -1;
	}
	if (target->HasNormals())
		target->NormalizeNormals(); // 将法向量归一化到1
	Eigen::Vector3d color{ 0.0,0.0,1.0 };
	target->PaintUniformColor(color);
	open3d::visualization::DrawGeometries({ source ,target }, "PointCloud", 1600, 900);

	return 0;
}