1.PCD文件读写
#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
void savePcdFun()//save pcdfile
{
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.width = 5;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize(cloud.width * cloud.height);
for (int i = 0; i < cloud.points.size(); ++i)
{
cloud.points[i].x = 1024 * rand() / (RAND_MAX + 0.1f);
cloud.points[i].y = 1024 * rand() / (RAND_MAX + 0.1f);
cloud.points[i].z = 1024 * rand() / (RAND_MAX + 0.1f);
}
pcl::io::savePCDFile("do1.pcd", cloud);
return;
}
void loadPcdFun()//load pcdfile
{
pcl::PointCloud<pcl::PointXYZ> cloud;
if (pcl::io::loadPCDFile("ajaccio_2 - Cloud.pcd", cloud) ==-1)
{
PCL_ERROR("load pcdfile failed!");
}
for (int i = 0; i < cloud.points.size(); ++i)
{
std::cout << cloud.points[i].x << " " << cloud.points[i].y
<< " " << cloud.points[i].z<< std::endl;
}
return;
}
}
2.点云字段或数据连接:
void concateFun()//concatenate filed
{
pcl::PointCloud<pcl::PointXYZ> cloud_a;
if (pcl::io::loadPCDFile("do1.pcd", cloud_a) == -1)
{
PCL_ERROR("load pcdfile failed !");
}
pcl::PointCloud<pcl::Normal>cloud_b_normal;
cloud_b_normal.width = 5;
cloud_b_normal.height = 1;
cloud_b_normal.is_dense = false;
cloud_b_normal.points.resize(cloud_b_normal.width * cloud_b_normal.height);
for (int i = 0; i < cloud_b_normal.points.size(); ++i)
{
cloud_b_normal.points[i].normal[0]=1024*rand()/(RAND_MAX+1.0f);
cloud_b_normal.points[i].normal[1]= 1024 * rand() / (RAND_MAX + 1.0f);
cloud_b_normal.points[i].normal[2]= 1024 * rand() / (RAND_MAX + 1.0f);
}
pcl::PointCloud<pcl::PointNormal>cloud_c;
pcl::concatenateFields(cloud_a, cloud_b_normal, cloud_c);
for (int j = 0; j < cloud_c.points.size(); ++j)
{
std::cout << cloud_c.points[j].x << " " << cloud_c.points[j].y
<< " " << cloud_c.points[j].z << " " << cloud_c.points[j].normal[0]
<< " " << cloud_c.points[j].normal[1] << " " << cloud_c.points[j].normal[2] <<
std::endl;
}
3.基于OpenNI接口的点云数据获取
#pragma
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
#include<pcl/io/openni2_grabber.h>
#include<pcl/common/time.h>
#include<pcl/visualization/cloud_viewer.h>
//读取深度信息 实时显示3d点云
class SimpleOpenNIProcessor
{
public:
pcl::visualization::CloudViewer viewer;
//construct a cloud viewer,with a window name
SimpleOpenNIProcessor() :viewer("pcl openni viewer")
{
}
//定义回调函数cloub_cb_,获取到数据时对数据进行处理
void cloud_cb_(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& cloud)
{
if (!viewer.wasStopped())
{
viewer.showCloud(cloud);
}
}
void run()
{
//create a new grabber for OpenNI Devices
pcl::Grabber* m_interface = new pcl::io::OpenNI2Grabber();
//定义回调函数
boost::function<void(pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
boost::bind(&SimpleOpenNIProcessor::cloud_cb_, this, _1);
//注册回调函数
boost::signals2::connection c = m_interface->registerCallback(f);
//start receive cloud
m_interface->start();
while (!viewer.wasStopped())
{
boost::this_thread::sleep(boost::posix_time::seconds(1));
}
//stop data aquisition
m_interface->stop();
}
};
int main()
{
SimpleOpenNIProcessor myViewer;
myViewer.run();
return 0;
}