一、下载安装
参考:
[1] PDAL:OSGeo4W安装配置测试PDAL
[2] 点云库PCL入门0:vs2019 配置pcl1.12.0
二、配置VS2019
右击项目——属性——配置属性
- C/C++——常规——附加包含目录:添加
C:\OSGeo4W64\include
- C/C++——预处理器——预处理器定义:添加
_CRT_SECURE_NO_DEPRECATE
_SCL_SECURE_NO_DEPRECATE
- 链接器——常规——附加库目录:添加
C:\OSGeo4W64\lib
- 链接器——输入——附加依懒项:添加
pdalcpp.lib
pdal_util.lib
- 如果与PCL一起使用,且用的是本博客的配库方法,则需要在环境中添加
C:\OSGeo4W64\bin
三、测试代码
以下代码实现用PDAL读取las点云,使用PCL获取点云的xyz坐标并进行简单的可视化。就目前试用效果来看,PDAL对于中文路径的支持不太友好,但是与Qt结合使用则很完美;PDAL能够实现与PCL的完美结合;与Open3D一起使用会发生冲突(也可能是Open3D的编译问题)。
//#pragma execution_character_set("utf-8")//解决中文路径问题,但同时也会引入新问题
#include <iostream>
#include <memory>
#include <pdal/PointTable.hpp>
#include <pdal/PointView.hpp>
#include <pdal/io/LasReader.hpp>
#include <pdal/io/LasHeader.hpp>
#include <pdal/Options.hpp>
// PCL
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
int main()
{
string fileName = "test.las";//中文路径可能报错
pdal::Option las_opt("filename", fileName);//参数1:"filename"(键)
pdal::Options las_opts;
las_opts.add(las_opt);
pdal::PointTable table;
pdal::LasReader las_reader;
las_reader.setOptions(las_opts);
las_reader.prepare(table);
pdal::PointViewSet point_view_set = las_reader.execute(table);
pdal::PointViewPtr point_view = *point_view_set.begin();
pdal::Dimension::IdList dims = point_view->dims();
pdal::LasHeader las_header = las_reader.header();
double xmin = las_header.minX();
double xmax = las_header.maxX();
double deltaX = xmax - xmin;
cout << "deltaX=" << fixed << setprecision(4) << deltaX << endl;
double ymin = las_header.minY();
double ymax = las_header.maxY();
double deltaY = ymax - ymin;
cout << "deltaY=" << fixed << setprecision(4) << deltaY << endl;
double zmin = las_header.minZ();
double zmax = las_header.maxZ();
double deltaZ = zmax - zmin;
cout << "deltaZ=" << fixed << setprecision(4) << deltaZ << endl;
unsigned int n_features = las_header.pointCount();
cout << "PointCount=" << n_features << endl;
// 头文件信息
unsigned int PointCount = las_header.pointCount();
double scale_x = las_header.scaleX();
double scale_y = las_header.scaleY();
double scale_z = las_header.scaleZ();
double offset_x = las_header.offsetX();
double offset_y = las_header.offsetY();
double offset_z = las_header.offsetZ();
// 读取点的信息
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->points.resize(point_view->size());
for (pdal::PointId id = 0; id < point_view->size(); ++id)
{
double x = point_view->getFieldAs<double>(pdal::Dimension::Id::X, id); // X
double y = point_view->getFieldAs<double>(pdal::Dimension::Id::Y, id); // Y
double z = point_view->getFieldAs<double>(pdal::Dimension::Id::Z, id); // Z
double red = point_view->getFieldAs<double>(pdal::Dimension::Id::Red, id); // R
double green = point_view->getFieldAs<double>(pdal::Dimension::Id::Green, id);// G
double blue = point_view->getFieldAs<double>(pdal::Dimension::Id::Blue, id); // B
double point_class = point_view->getFieldAs<double>(pdal::Dimension::Id::Classification, id);// 分类标签
double GPSTime = point_view->getFieldAs<double>(pdal::Dimension::Id::GpsTime, id); // GPS时间
auto Intensity= point_view->getFieldAs<double>(pdal::Dimension::Id::Intensity, id);// 强度
// 获取xyz坐标保存进PCL点云容器
cloud->points[id].x = x;
cloud->points[id].y = y;
cloud->points[id].z = z;
}
// -----------------------------------使用PCL进行简单可视化---------------------------------------------
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->setWindowName("PDAL读点云PCL可视化");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
return 0;
}
参考:
[1] pdal读取.las文件(将las数据读取成XYZRGB格式)//las转txt
[2] PDAL库读写多种格式的点云