点云文件的操作

读取点云文件

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

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

  if (pcl::io::loadPCDFile<pcl::PointXYZ> ("test_pcd.pcd", *cloud) == -1) //* load the file
  {
    PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
    return (-1);
  }
  std::cout << "Loaded "
            << cloud->width * cloud->height
            << " data points from test_pcd.pcd with the following fields: "
            << std::endl;
  for (size_t i = 0; i < cloud->points.size (); ++i)
    std::cout << "    " << cloud->points[i].x
              << " "    << cloud->points[i].y
              << " "    << cloud->points[i].z << std::endl;

  return (0);
}

我们也可以读取一个PCLPointCloud2 blob，因为点云的动态特性，我们更愿意把它们当做blob(二进制大文件)来读取，然后把它们转换成我们想用的。

pcl::PCLPointCloud2 cloud_blob;
pcl::io::loadPCDFile ("test_pcd.pcd", cloud_blob);
pcl::fromPCLPointCloud2 (cloud_blob, *cloud); //* convert from pcl/PCLPointCloud2 to pcl::Po

下面是pcl文件的写入

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

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

  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 1;
  cloud.is_dense = false;
  cloud.points.resize (cloud.width * cloud.height);

  for (size_t i = 0; i < cloud.points.size (); ++i)
  {
    cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
  std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;

  for (size_t i = 0; i < cloud.points.size (); ++i)
    std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

  return (0);
}

点云连接

对于两个点云连接，有约束那就是点云的域的数量和类型必须相等。对于不同域的点云连接，约束是每个点云数据集里面点的数量要相等。

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int
  main (int argc, char** argv)
{
  if (argc != 2)
  {
    std::cerr << "please specify command line arg '-f' or '-p'" << std::endl;
    exit(0);
  }
  pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;
  pcl::PointCloud<pcl::Normal> n_cloud_b;
  pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;

  // Fill in the cloud data
  cloud_a.width  = 5;
  cloud_a.height = cloud_b.height = n_cloud_b.height = 1;
    cloud_a.points.resize (cloud_a.width * cloud_a.height);
  if (strcmp(argv[1], "-p") == 0)
  {
    cloud_b.width  = 3;
    cloud_b.points.resize (cloud_b.width * cloud_b.height);
  }
  else{
    n_cloud_b.width = 5;
    n_cloud_b.points.resize (n_cloud_b.width * n_cloud_b.height);
  }

  for (size_t i = 0; i < cloud_a.points.size (); ++i)
  {
    cloud_a.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud_a.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud_a.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
  }
  if (strcmp(argv[1], "-p") == 0)
    for (size_t i = 0; i < cloud_b.points.size (); ++i)
    {
      cloud_b.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
      cloud_b.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
      cloud_b.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
    }
  else
    for (size_t i = 0; i < n_cloud_b.points.size (); ++i)
    {
      n_cloud_b.points[i].normal[0] = 1024 * rand () / (RAND_MAX + 1.0f);
      n_cloud_b.points[i].normal[1] = 1024 * rand () / (RAND_MAX + 1.0f);
      n_cloud_b.points[i].normal[2] = 1024 * rand () / (RAND_MAX + 1.0f);
    }
  std::cerr << "Cloud A: " << std::endl;
  for (size_t i = 0; i < cloud_a.points.size (); ++i)
    std::cerr << "    " << cloud_a.points[i].x << " " << cloud_a.points[i].y << " " << cloud_a.points[i].z << std::endl;

  std::cerr << "Cloud B: " << std::endl;
  if (strcmp(argv[1], "-p") == 0)
    for (size_t i = 0; i < cloud_b.points.size (); ++i)
      std::cerr << "    " << cloud_b.points[i].x << " " << cloud_b.points[i].y << " " << cloud_b.points[i].z << std::endl;
  else
    for (size_t i = 0; i < n_cloud_b.points.size (); ++i)
      std::cerr << "    " << n_cloud_b.points[i].normal[0] << " " << n_cloud_b.points[i].normal[1] << " " << n_cloud_b.points[i].normal[2] << std::endl;

  // Copy the point cloud data
  if (strcmp(argv[1], "-p") == 0)
  {
    cloud_c  = cloud_a;
    cloud_c += cloud_b;
    std::cerr << "Cloud C: " << std::endl;
    for (size_t i = 0; i < cloud_c.points.size (); ++i)
      std::cerr << "    " << cloud_c.points[i].x << " " << cloud_c.points[i].y << " " << cloud_c.points[i].z << " " << std::endl;
  }
  else
  {
    pcl::concatenateFields (cloud_a, n_cloud_b, p_n_cloud_c);
    std::cerr << "Cloud C: " << std::endl;
    for (size_t i = 0; i < p_n_cloud_c.points.size (); ++i)
      std::cerr << "    " <<
        p_n_cloud_c.points[i].x << " " << p_n_cloud_c.points[i].y << " " << p_n_cloud_c.points[i].z << " " <<
        p_n_cloud_c.points[i].normal[0] << " " << p_n_cloud_c.points[i].normal[1] << " " << p_n_cloud_c.points[i].normal[2] << std::endl;
  }
  return (0);
}

我们定义了5个点云用来连接:3个输入的（cloud_a,cloud_b,n_cloud_b）,两个输出(cloud_c,p_cloud_c)。下一步我们把2个输入的点云给填满。(对于点来说,cloud_a,cloud_b对于域来说cloud_a，n_cloud_b).

接下去:

  std::cerr << "Cloud A: " << std::endl;
  for (size_t i = 0; i < cloud_a.points.size (); ++i)
    std::cerr << "    " << cloud_a.points[i].x << " " << cloud_a.points[i].y << " " << cloud_a.points[i].z << std::endl;

  std::cerr << "Cloud B: " << std::endl;
  if (strcmp(argv[1], "-p") == 0)
    for (size_t i = 0; i < cloud_b.points.size (); ++i)
      std::cerr << "    " << cloud_b.points[i].x << " " << cloud_b.points[i].y << " " << cloud_b.points[i].z << std::endl;
  else
    for (size_t i = 0; i < n_cloud_b.points.size (); ++i)
      std::cerr << "    " << n_cloud_b.points[i].normal[0] << " " << n_cloud_b.points[i].normal[1] << " " << n_cloud_b.points[i].normal[2] << std::endl;

我们显示了cloud_a和cloud_b或者n_cloud_b

把两个点云相连接

    cloud_c  = cloud_a;
    cloud_c += cloud_b;

把点云的域相连接

pcl::concatenateFields (cloud_a, n_cloud_b, p_n_cloud_c);

剩下的代码把内容显示出来