使用PCL直通滤波器基于高程值批量提取las格式点云地面点数据

1  运行环境：

        VS 2015 + PCL 库 + liblas库

2  代码

2.1  批量获取指定路径下所有文件路径函数：

vector<string> getFiles(string path, vector<string>& files)
{
	intptr_t   hFile = 0;//文件句柄，过会儿用来查找
	struct _finddata_t fileinfo;//文件信息
	string p;
	if ((hFile = _findfirst(p.assign(path).append("\\*").c_str(), &fileinfo)) != -1)
		//如果查找到第一个文件
	{
		do
		{
			if ((fileinfo.attrib &  _A_SUBDIR))//如果是文件夹
			{
				if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)
					getFiles(p.assign(path).append("//").append(fileinfo.name), files);
			}
			else//如果是文件
			{
				files.push_back(p.assign(path).append("//").append(fileinfo.name));
			}
		} while (_findnext(hFile, &fileinfo) == 0); //能寻找到其他文件

		_findclose(hFile);  //结束查找，关闭句柄
	}
	return files;
}

2.2   利用直通滤波器获取las点云数据地面点

void splitGroud(string las_file, string pcd_file, double instance )
{

	std::ifstream ifs(las_file, std::ios::in | std::ios::binary); // 打开项目目录下的las文件

	liblas::ReaderFactory f;
	liblas::Reader reader = f.CreateWithStream(ifs); // 读取las文件

	int nbPoints = reader.GetHeader().GetPointRecordsCount();//获取las数据点的个数
	cout << "las数据点的个数为：" << nbPoints << endl;

	pcl::PointCloud<pcl::PointXYZI>::Ptr cloudPtr(new pcl::PointCloud<pcl::PointXYZI>);

	cloudPtr->width = nbPoints;
	cloudPtr->height = 1;
	cloudPtr->is_dense = false;
	cloudPtr->resize(cloudPtr->width * cloudPtr->height);

	int i = 0;
	cout << "->正在执行las转pcd...\n";
	while (reader.ReadNextPoint())
	{
		// 获取las数据的x，y，z, intensity 信息
		cloudPtr->points[i].x = reader.GetPoint().GetX();
		cloudPtr->points[i].y = reader.GetPoint().GetY();
		cloudPtr->points[i].z = reader.GetPoint().GetZ();
		cloudPtr->points[i].intensity = reader.GetPoint().GetIntensity();
		i++;
	}
	cout << *cloudPtr << endl;

	// 直通滤波器对点云进行处理
	pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_filtered(new             pcl::PointCloud<pcl::PointXYZI>);
	pcl::PassThrough<pcl::PointXYZI> passthrough;
	passthrough.setInputCloud(cloudPtr);
	passthrough.setFilterFieldName("z");
	passthrough.setFilterLimits(0.0, instance);
	passthrough.setFilterLimitsNegative(false); // true 表示保留范围内
	passthrough.filter(*cloud_filtered);

	std::cerr << "Ground cloud after filtering: " << std::endl;
	std::cerr << *cloud_filtered << std::endl;

	pcl::PCDWriter writer;
	writer.write<pcl::PointXYZI>(pcd_file, *cloud_filtered, false);
	return;
}

2.3  main函数

#include <iostream>
#include <cstdlib>
#include <liblas/liblas.hpp>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <windows.h>
#include<pcl/filters/passthrough.h> //直通滤波器头文件
#include<vector>
#include <io.h> 


using namespace std;
using namespace pcl;

int main()
{  
	double instance[10] = { 20, 23, 25, 26, 28, 28.5, 29.3, 30.1, 31.1, 33.2};    // 阈值数组

	const string las_path = "..//las";
	const string pcd_path = "..//pcd";
	string savefilename;
	vector<string> las_file;
	getFiles(las_path, las_file);
    int num = las_path.size();

	for (int i = 0; i < las_file.size(); i++)
	{
		savefilename = pcd_path + las_file[i].substr(num,13) + ".pcd";
		splitGroud(las_file[i], savefilename, instance[i]);
	}
	system("pause");
	return 0;
}