Compress--- The input point cloud



#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <stdio.h>
#include <sstream>
#include <stdlib.h>

#ifdef WIN32
# define sleep(x) Sleep((x)*1000)
#endif

class SimpleOpenNIViewer
{
public:
SimpleOpenNIViewer () :
viewer (" Point Cloud Compression Example")
  {
  }

void
cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
  {
if (!viewer.wasStopped ())
    {
// 存储压缩点云的字节流
std::stringstream compressedData;
// 输出点云
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOut (new pcl::PointCloud<pcl::PointXYZRGBA> ());
// 压缩点云
PointCloudEncoder->encodePointCloud (cloud, compressedData);
// 解压缩点云
PointCloudDecoder->decodePointCloud (compressedData, cloudOut);
//可视化解压缩点云
viewer.showCloud (cloudOut);
    }
  }

void
run ()
  {
bool showStatistics=true;
// 压缩选项详见 /io/include/pcl/compression/compression_profiles.h
pcl::octree::compression_Profiles_e compressionProfile=pcl::octree::MED_RES_ONLINE_COMPRESSION_WITH_COLOR;
// 初始化压缩与解压缩对象
PointCloudEncoder=new pcl::octree::PointCloudCompression<pcl::PointXYZRGBA> (compressionProfile, showStatistics);
PointCloudDecoder=new pcl::octree::PointCloudCompression<pcl::PointXYZRGBA> ();
//创建从 OpenNI获取点云的对象
pcl::Grabber* interface =new pcl::OpenNIGrabber ();
//建立回调函数
    boost::function<void
   (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
// 建立回调函数与回调信号之间联系
boost::signals2::connection c = interface->registerCallback (f);
// 开始接收点云数据流
interface->start ();
while (!viewer.wasStopped ())
    {
sleep (1);
    }
interface->stop ();
// 删除点云压缩与解压缩对象实例
delete (PointCloudEncoder);
delete (PointCloudDecoder);
  }
pcl::visualization::CloudViewer viewer;
pcl::octree::PointCloudCompression<pcl::PointXYZRGBA>*PointCloudEncoder;
pcl::octree::PointCloudCompression<pcl::PointXYZRGBA>*PointCloudDecoder;
};

int
main (int argc, char**argv)
{
SimpleOpenNIViewer v;
v.run ();
return (0);
}


编译没有报错，但是运行的时候就出现了

PCL2.exe 中的 0x760cc42d 处有未经处理的异常: Microsoft C++ 异常: 内存位置 0x0016ee48 处的 pcl::PCLIOException。
点击继续就出现下面的提示了

PCL2.exe 中的 0x60834114 处有未经处理的异常: 0xC0000005: 读取位置 0x00000060 时发生访问冲突

最终调试的结果是pcl::Grabber* interface =new pcl::OpenNIGrabber ();这句话中pcl::OpenNIGrabber ()是打开一种openni的外界设备，因为没有外界设备，所以调试出错

最终自己重新写的程序，自己导入点云，显示压缩图像

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <stdio.h>
#include <sstream>
#include <stdlib.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>

int
main (int argc, char**argv)
{
 //SimpleOpenNIViewer v;
 //v.run();

 //pcl::visualization::CloudViewer viewer;

 pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);  //设置点云的格式，PointXYZ之前报错，是因为与八叉树里面的格式不一致
 pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_projected (new pcl::PointCloud<pcl::PointXYZRGBA>);  //智能指针可以自行delete

 pcl::octree::PointCloudCompression<pcl::PointXYZRGBA> * PointCloudEncoder;
 pcl::octree::PointCloudCompression<pcl::PointXYZRGBA> * PointCloudDecoder;  //定义名为解压缩和压缩的指针

 bool showStatistics=true;

 pcl::octree::compression_Profiles_e compressionProfile = pcl::octree::MED_RES_ONLINE_COMPRESSION_WITH_COLOR;

 // 初始化压缩与解压缩对象
 PointCloudEncoder=new pcl::octree::PointCloudCompression<pcl::PointXYZRGBA> (compressionProfile, showStatistics);
 PointCloudDecoder=new pcl::octree::PointCloudCompression<pcl::PointXYZRGBA> ();

 pcl::io::loadPCDFile<pcl::PointXYZRGBA>("source.pcd", *cloud);   //导入名为“1.pcd”的点云

 //pcl::visualization::CloudViewer viewer(argv[1]);
 
 // 存储压缩点云的字节流
 std::stringstream compressedData;
 // 输出点云
 pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOut (new pcl::PointCloud<pcl::PointXYZRGBA> ());
 // 压缩点云
 PointCloudEncoder->encodePointCloud (cloud, compressedData);  //之前在没把上述的PointXYZ改成PointXYZRGBA。cloud报错，说无法从char装换到boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA>>匹配的构造函数
 // 解压缩点云
 PointCloudDecoder->decodePointCloud (compressedData, cloudOut);
 //可视化解压缩点云
 pcl::visualization::CloudViewer viewer("windows name");   //新窗口的名字windows name

 viewer.showCloud(cloudOut);

 while (!viewer.wasStopped())
 {
  // Do nothing but wait.
 }
 delete PointCloudEncoder;
 delete PointCloudDecoder;
 return (0);
}                  //最后缺少*/造成编译时出现失败

/*#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
 
int
main(int argc, char** argv)
{
 // Object for storing the point cloud.
 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 
 // Read a PCD file from disk.
 if (pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud) != 0)
 {
  return -1;
 }
 
 // Cloud viewer object. You can set the window title.
 pcl::visualization::CloudViewer viewer(argv[1]);
 viewer.showCloud(cloud);
 while (!viewer.wasStopped())
 {
  // Do nothing but wait.
 }
}
*/