PCL库中的3D点云包含的域相当丰富,但大多数时候我们用不到,在一些插件和脚本中使用PCL导出的PLY文件,这些多余的域可能会导致报错,因此我写了一个简单的PLY binary little-endian format格式,包含了XYZ的三维坐标信息和每个点的RGB信息。运行需要PCL库读取点云文件。
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/filter.h>
void removeNaN(pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud)//移除无效点
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_temp(new pcl::PointCloud<pcl::PointXYZRGB>);//实例化一个点云对象指针
for (size_t i = 0; i < cloud->points.size(); i++)
{
if (pcl::isFinite(cloud->points[i]))
{
cloud_temp->points.push_back(cloud->points[i]);
}
}
cloud->clear();
cloud_temp->width = (int)cloud_temp->points.size();
cloud_temp->height = 1;//设置点云形状和类型,无序点云
pcl::copyPointCloud(*cloud_temp, *cloud);
}
std::string FilePathandName(const std::string &file_path)//提取打开文件除后缀的部分,作为保存文件的前缀
{
std::string file_path_without_suffix;
file_path_without_suffix = file_path.substr(0, file_path.find_last_of('.'));
return file_path_without_suffix;
}
struct PositionData
{
float x, y, z;
PositionData() {
x = y = z = 0.0f;
}
};
struct colorData
{
unsigned char r, g, b;
colorData() {
r = g = b = 0;
}
};
int main(int argc, char** argv)
{
if (argc < 2)
{
std::cout << "The Input is error!" << std::endl;
return (-1);
}//输入不符合要求时报错
std::string ori_filename;
ori_filename = argv[1];
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::io::loadPCDFile(ori_filename, *cloud);
std::cout << "Read PCD file Success" << std::endl;
removeNaN(cloud);
int vertexCount = cloud->points.size();
//pcl::io::savePLYFileBinary("Captured_Frame1.ply", *cloud);
std::string file_path_without_suffix;
file_path_without_suffix = FilePathandName(argv[1]);
std::string new_filename;
new_filename = file_path_without_suffix + ".ply";
FILE *outputPly;
struct PositionData P;
struct colorData C;
outputPly = fopen(new_filename.c_str(), "wb");
fprintf(outputPly, "ply\n");
fprintf(outputPly, "format binary_little_endian 1.0\n");
fprintf(outputPly, "comment This contains a Splatted Point Cloud\n");
fprintf(outputPly, "element vertex %d\n", cloud->points.size());
fprintf(outputPly, "property float x\n");
fprintf(outputPly, "property float y\n");
fprintf(outputPly, "property float z\n");
fprintf(outputPly, "property uchar red\n");
fprintf(outputPly, "property uchar green\n");
fprintf(outputPly, "property uchar blue\n");
fprintf(outputPly, "end_header\n");
//write vertices and normals
for (long int i = 0; i < vertexCount; i++)
{
P.x = cloud->points[i].x;
P.y = cloud->points[i].y;
P.z = cloud->points[i].z;
C.r = cloud->points[i].r;
C.g = cloud->points[i].g;
C.b = cloud->points[i].b;
fwrite(&P, sizeof(struct PositionData), 1, outputPly);
fwrite(&C, sizeof(struct colorData), 1, outputPly);
}
fclose(outputPly);
std::cout << "Save PLY file Success" << std::endl;
return 0;
}