pcl点云库的使用03：txt点云转pcd、设定高程范围滤波及屏幕三维点坐标拾取

本文链接：https://blog.csdn.net/m1m2m3mmm/article/details/102159524

下午闲来无事，在网上找了几个pcl点云的教程，简单拼凑，做了一点儿小功能，希望能对您有所启发！

主要功能为：

（1）将txt格式的点云转化为pcd格式的点云

（2）根据设定的高程阈值，即Z字段，将范围之内的点坐标滤掉

（3）从滤波后的点云可视化结果中，获取鼠标点击位置的三维点坐标，将其打印在控制台

1 txt点云转pcd点云

///------------------------------点云数据的格式转化模块------------------------------
//函数功能：将如下格式的txt点云转换为pcd点云
/*
PointNum: 13346
X Y Z Intensity ClassType ReturnNumberType
437354.62000000 2557954.96980469 -3.51999817 1476 2 
*/
//函数参数：txtPath	txt点云文件路径
//函数参数：pcdPath	pcd点云的文件路径
bool txt2pcd(string txtPath, string pcdPath)
{
	ifstream in;
	in.open(txtPath);
	string widthLine;
	getline(in, widthLine);
	//第一行标记了点云的行数，以字符串形式读入然后再转化为数值
	string width = widthLine.substr(widthLine.find_first_of(':') + 2, widthLine.size() - 1);
	int pclWidth;
	sscanf(width.c_str(), "%d", &pclWidth);
	cout << width << endl;

	pcl::PointCloud<pcl::PointXYZ> pcdCloud;
	pcdCloud.width = pclWidth;
	pcdCloud.height = 1;
	pcdCloud.is_dense = false;
	pcdCloud.points.resize(pcdCloud.width * pcdCloud.height);
	//跳过第二行
	getline(in, widthLine);
	float num[6];
	for(size_t j = 0; j < pclWidth; ++j)
	{		 
		for(size_t i = 0; i < 6; ++i)
		{
			in >> num[i];
		}
		 pcdCloud.points[j].x = num[0];
		 pcdCloud.points[j].y = num[1];
		 pcdCloud.points[j].z = num[2];
	}
	pcl::io::savePCDFileASCII(pcdPath, pcdCloud);
	return true;

}

2 根据设定高程阈值进行简单点云滤波

//根据z字段范围进行点云滤波
//参数：cloud	待滤波点云数据
//参数：minZ	高程下界
//参数：maxZ	高程上界
//参数：is_inner	为真取区间外点，为假取区间外点
//返回值：根据设定高程界限滤波后的点云结果
pcl::PointCloud<pcl::PointXYZ>::Ptr filterByZ(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, double minZ, double maxZ, bool is_inner)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFilter(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PassThrough<pcl::PointXYZ> pass;
	pass.setInputCloud(cloud);
	pass.setFilterFieldName("z");
	pass.setFilterLimits(minZ, maxZ);
	pass.setFilterLimitsNegative(is_inner);//参数为true表示取范围之外的点；为false表示取设定范围之内的点，默认为false
	//该函数在未来可能会被setNegative所替代
	pass.filter(*cloudFilter);
	return cloudFilter;
}

3 屏幕三维点坐标拾取

boost::mutex cloud_mutex;
typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
//定义回调参数结构体 
struct callback_args{
	// structure used to pass arguments to the callback function
	PointCloudT::Ptr clicked_points_3d;
	pcl::visualization::PCLVisualizer viewerPtr;
};
// 回调处理事件  这里是点选取事件
void pp_callback(const pcl::visualization::PointPickingEvent& event, void *args)
{
	struct callback_args * data = (struct callback_args *)args;//点云数据 & 可视化窗口
	if (event.getPointIndex() == -1)
		return;
	PointT current_point;
	event.getPoint(current_point.x, current_point.y, current_point.z);
	data->clicked_points_3d->points.push_back(current_point);
	//Draw clicked points in red:
	pcl::visualization::PointCloudColorHandlerCustom<PointT> red(data->clicked_points_3d, 255, 0, 0);
	data->viewerPtr.removePointCloud("clicked_points");
	data->viewerPtr.addPointCloud(data->clicked_points_3d, red, "clicked_points");
	data->viewerPtr.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, "clicked_points");
	std::cout << current_point.x << " " << setiosflags(ios::fixed) << current_point.y << " " << current_point.z << std::endl;

}
//参数：待显示点云
void getPointCoordinate(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
{
	pcl::visualization::PCLVisualizer viewer;
	std::cout << cloud->points.size() << std::endl;

	cloud_mutex.lock();    // for not overwriting the point cloud

	// Display pointcloud:
	
	viewer.addPointCloud(cloud, "bunny_source");
	viewer.setCameraPosition(0, 0, -2, 0, -1, 0, 0);

	// Add point picking callback to viewer:
	struct callback_args cb_args;
	PointCloudT::Ptr clicked_points_3d(new PointCloudT);
	cb_args.clicked_points_3d = clicked_points_3d;
	cb_args.viewerPtr = pcl::visualization::PCLVisualizer(viewer);

	viewer.registerPointPickingCallback(pp_callback, (void*)&cb_args);


	std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;

	// Spin until 'Q' is pressed:
	viewer.spin();
	std::cout << "done." << std::endl;

	cloud_mutex.unlock();

	while (!viewer.wasStopped())
	{
		viewer.spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
}

4 测试代码

int main(int argc, char* argv[])
{
	//测试1：将规定的txt格式的点云转换为pcd格式的点云数据
	//txt2pcd("block.txt", "pointA.pcd");
	//测试3：根据Z坐标滤掉给定阈值以外的点云坐标
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);
	int ret = pcl::io::loadPCDFile("pointA.pcd", *cloud1);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2  = filterByZ(cloud1, 0, 6, false);
	getPointCoordinate(cloud2);
	cout << "End" << endl;
	system("pause");
	return 0;
}

滤波之前的点云：