c++读取自定义点云pcd文件

之前查读取pcd的文件，大多数是用python的open3d来进行读取，但是这样读取到的信息，好像只能够得到 pcd.points,和pcd.colors, 但是如果想要把pcd中的信息都拿到呢，比如我保存的时候，pcd中的点云的类型是下面这样的

struct PointXYZIRPYT
{
    PCL_ADD_POINT4D
    PCL_ADD_INTENSITY;                  // preferred way of adding a XYZ+padding
    float roll;
    float pitch;
    float yaw;
    double time;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW   // make sure our new allocators are aligned

} EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment

POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIRPYT,
                                   (float, x, x) (float, y, y)
                                   (float, z, z) (float, intensity, intensity)
                                   (float, roll, roll) (float, pitch, pitch) (float, yaw, yaw)
                                   (double, time, time))

typedef PointXYZIRPYT  PointT;

下面是一种用c++能够正确读取到pcd中所用维度信息的一种方法.

这里我的 pcd文件实际上就是存储了 pose信息，x,y,z就相当于平移，基于roll, pitch, yaw 又可以算出来旋转矩阵,而时间信息可以对应到具体的是哪一桢.

完整的读取自定义的pcd的文件代码如图所示.

#include <iostream>
#include <string>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;

//需要自己定义一个类型来实现读取


struct PointXYZIRPYT
{
    PCL_ADD_POINT4D
    PCL_ADD_INTENSITY;                  // preferred way of adding a XYZ+padding
    float roll;
    float pitch;
    float yaw;
    double time;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW   // make sure our new allocators are aligned

} EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment

POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIRPYT,
                                   (float, x, x) (float, y, y)
                                   (float, z, z) (float, intensity, intensity)
                                   (float, roll, roll) (float, pitch, pitch) (float, yaw, yaw)
                                   (double, time, time))

typedef PointXYZIRPYT  PointT;

int main (int argc, char** argv){
    pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);

    std::string dir = "/home/qiaofeng/";
    std::string filename = "transformations.pcd";

    if (pcl::io::loadPCDFile<PointT> ((dir+filename), *cloud) == -1){
        //* load the file
        PCL_ERROR ("Couldn't read PCD file \n");
        return (-1);
        //
    }
    printf("Loaded %d data points from PCD\n",
            cloud->width * cloud->height);

    for (size_t i = 0; i < cloud->points.size (); i+=1)
        printf("%8.3f %8.3f %8.3f %8.3f %8.3f %8.3f %8.3f %8.3f \n",
                cloud->points[i].x,
                cloud->points[i].y,
                cloud->points[i].z,
                cloud->points[i].intensity,
                cloud->points[i].roll,
                cloud->points[i].pitch,
                cloud->points[i].yaw,
                cloud->points[i].time
                );

    //pcl::visualization::PCLVisualizer viewer("Cloud viewer");
    //viewer.setCameraPosition(0,0,-3.0,0,-1,0);
    //viewer.addCoordinateSystem(0.3);
    //viewer.addPointCloud(cloud);
    //while(!viewer.wasStopped())
        //viewer.spinOnce(100);
    return (0);
}

这里我的 CMake如下

cmake_minimum_required(VERSION 2.8)

set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "-std=c++11 -O2")

# opencv
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# eigen
include_directories("/usr/include/eigen3/")

# pcl
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(read_pcd read_pcd.cpp)
target_link_libraries(read_pcd ${OpenCV_LIBS} ${PCL_LIBRARIES})

按照正常的编译，然后 ./read_pcd 运行出来如下所示,这里我并没有进行可视化.

-178.142   83.001   -0.183  143.000    0.052    0.028    2.696 1317275787.240
-179.187   83.493   -0.197  144.000    0.054    0.029    2.698 1317275787.448
-180.181   83.969   -0.207  145.000    0.057    0.026    2.700 1317275787.655
-181.120   84.399   -0.210  146.000    0.054    0.026    2.702 1317275787.863
-182.849   85.200   -0.230  147.000    0.058    0.026    2.705 1317275788.278
-184.476   85.941   -0.247  148.000    0.053    0.023    2.707 1317275788.694
-186.083   86.675   -0.255  149.000    0.051    0.023    2.709 1317275789.109
-187.638   87.390   -0.265  150.000    0.054    0.023    2.710 1317275789.524
-189.146   88.069   -0.278  151.000    0.051    0.022    2.709 1317275789.940
-190.583   88.737   -0.286  152.000    0.052    0.023    2.706 1317275790.355
-191.982   89.385   -0.297  153.000    0.053    0.026    2.704 1317275790.770
-193.345   90.032   -0.316  154.000    0.059    0.028    2.701 1317275791.185
-194.698   90.662   -0.330  155.000    0.055    0.028    2.698 1317275791.600
-196.044   91.309   -0.352  156.000    0.059    0.027    2.696 1317275792.015
-197.389   91.940   -0.377  157.000    0.056    0.031    2.693 1317275792.430
-198.741   92.587   -0.394  158.000    0.055    0.030    2.691 1317275792.845
-200.086   93.235   -0.418  159.000    0.054    0.027    2.690 1317275793.261
-201.435   93.871   -0.432  160.000    0.052    0.025    2.693 1317275793.676
-202.720   94.490   -0.457  161.000    0.054    0.029    2.695 1317275794.091
-203.777   94.967   -0.457  162.000    0.050    0.029    2.696 1317275794.506
-204.819   95.474   -0.474  163.000    0.050    0.025    2.697 1317275795.129
-205.753   95.926   -0.481  164.000    0.050    0.025    2.695 1317275795.959
-206.734   96.374   -0.504  165.000    0.043    0.024    2.694 1317275797.205