1.如何获取pcd文件点云里点的格式,比如是pcl::PointXYZ还是pcl::PointXYZRGB等类型?
#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/point_cloud.h> #include <pcl/PCLPointCloud2.h> pcl::PCLPointCloud2 cloud; pcl::PCDReader reader; reader.readHeader("C:\fandisk.pcd", cloud); for (int i = 0; i < cloud.fields.size(); i++) { std::cout << cloud.fields[i].name; }
2.如何实现类似pcl::PointCloud::Ptr和pcl::PointCloud的两个类相互转换?
#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/point_cloud.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPointer(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ> cloud; cloud = *cloudPointer; cloudPointer = cloud.makeShared();
3.如何加快ASCII格式存储,也就是记事本打开可以看到坐标数据的pcd文件读取速度?
建议将pcd文件换成以Binary格式存储。
#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/point_cloud.h> #include <pcl/PCLPointCloud2.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ>("C:\office3-after1.pcd", *cloud); pcl::io::savePCDFileBinary("C:\office3-after21111.pcd", *cloud);
4.如何给pcl::PointXYZ类型的点云在显示时指定颜色?
#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/point_cloud.h> #include <pcl/visualization/pcl_visualizer.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ>("C:\office3-after21111.pcd", *cloud); pcl::visualization::PCLVisualizer viewer("pointcloud viewer"); pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> sig(cloud, 0, 234, 0); viewer.addPointCloud(cloud, sig, "cloud"); while (!viewer.wasStopped()) { viewer.spinOnce(); }
5.如何查找点云的x,y,z的极值?
#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/common/common.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud; cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr (new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ> ("your_pcd_file.pcd", *cloud); pcl::PointXYZ minPt, maxPt; pcl::getMinMax3D (*cloud, minPt, maxPt);
6.如何判断点云中的点为无效点,即坐标值为nan,以及如何将点设置为无效点?
#include <pcl/point_types.h> pcl::PointXYZ p_valid; p_valid.x = 0; p_valid.y = 0; p_valid.z = 0; std::cout << "Is p_valid valid? " << pcl::isFinite(p_valid) << std::endl; pcl::PointXYZ p_invalid; p_invalid.x = std::numeric_limits<float>::quiet_NaN(); p_invalid.y = 0; p_invalid.z = 0; std::cout << "Is p_invalid valid? " << pcl::isFinite(p_invalid) << std::endl;
7.如何将无效点从点云中移除?
#include <pcl/point_cloud.h> #include <pcl/point_types.h> #include <pcl/filters/filter.h> typedef pcl::PointCloud<pcl::PointXYZ> CloudType; CloudType::Ptr cloud(new CloudType); cloud->is_dense = false; CloudType::Ptr output_cloud(new CloudType); CloudType::PointType p_nan; p_nan.x = std::numeric_limits<float>::quiet_NaN(); p_nan.y = std::numeric_limits<float>::quiet_NaN(); p_nan.z = std::numeric_limits<float>::quiet_NaN(); cloud->push_back(p_nan); CloudType::PointType p_valid; p_valid.x = 1.0f; cloud->push_back(p_valid); std::cout << "size: " << cloud->points.size() << std::endl; std::vector<int> indices; pcl::removeNaNFromPointCloud(*cloud, *output_cloud, indices); std::cout << "size: " << output_cloud->points.size() << std::endl;
8.如果知道需要保存点的序号,如何从原点云中拷贝点到新点云?
#include <pcl/io/pcd_io.h> #include <pcl/common/impl/io.hpp> #include <pcl/point_types.h> #include <pcl/point_cloud.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ>("C:\office3-after21111.pcd", *cloud); pcl::PointCloud<pcl::PointXYZ>::Ptr cloudOut(new pcl::PointCloud<pcl::PointXYZ>); std::vector<int > indexs = { 1, 2, 5 }; pcl::copyPointCloud(*cloud, indexs, *cloudOut);
9.如何从点云里删除和添加点?
#include "stdafx.h" #include <pcl/io/pcd_io.h> #include <pcl/common/impl/io.hpp> #include <pcl/point_types.h> #include <pcl/point_cloud.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile<pcl::PointXYZ>("C:\office3-after21111.pcd", *cloud); pcl::PointCloud<pcl::PointXYZ>::iterator index = cloud->begin(); cloud->erase(index);//删除第一个 index = cloud->begin() + 5; cloud->erase(cloud->begin());//删除第5个 pcl::PointXYZ point = { 1, 1, 1 }; //在索引号为5的位置1上插入一点,原来的点后移一位 cloud->insert(cloud->begin() + 5, point); cloud->push_back(point);//从点云最后面插入一点 std::cout << cloud->points[5].x;//输出1
如果删除的点太多建议用上面的方法拷贝到新点云,再赋值给原点云,如果要添加很多点,建议先resize,然后用循环向点云里的添加。
10.PointCloud和PCLPointCloud2类型如何相互转换?
#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PCLPointCloud2 cloud2; pcl::io::loadPCDFile("C:\office3-after21111.pcd", cloud2); pcl::fromPCLPointCloud2(cloud2, *cloud); pcl::toPCLPointCloud2(*cloud, cloud2);