#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.
}
}
*/