【PCL】PCL保存及加载不同格式点云对比

PCL保存及加载不同格式点云对比

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前言

PCL中的IO库提供了点云文件输入输出相关的操作类，IO模块利用50多个类与30多个函数来实现点云的获取、读入、存储等。本文以PCL中常见的数据格式PLY和PCD为例，比较不同格式文件的保存以及读取差异。（加载PCD格式点云时，文件名中有中文会报错）测试文件

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一、PCL保存为PLY和PCD大小比较

#include <iostream>     
#include <opencv2/opencv.hpp>
#include <pcl/io/pcd_io.h>  
#include <pcl/point_types.h> 
#include <pcl/io/ply_io.h>  
#include <chrono>
using namespace std;
int main()
{
	cv::TickMeter tm;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("lucy.pcd", *cloud);
	//PCD
	tm.start();
	pcl::io::savePCDFileBinary("lucy_binary.pcd", *cloud);
	tm.stop();
	std::cout << "save pcd binary cost time: " << tm.getTimeMilli()<<" ms" << endl;
	tm.start();
	pcl::io::savePCDFileASCII("lucy_ascii.pcd", *cloud);
	tm.stop();
	std::cout << "save pcd ascii cost time: " << tm.getTimeMilli() << " ms" << endl;
	tm.start();
	pcl::io::savePCDFileBinaryCompressed("lucy_binaryCompressed.pcd", *cloud);
	tm.stop();
	std::cout << "save pcd binary_compressed cost time: " << tm.getTimeMilli() << " ms" << endl;

	//PLY
	tm.start();
	pcl::io::savePLYFileBinary("lucy_binary.ply", *cloud);
	tm.stop();
	std::cout << "save ply binary cost time: " << tm.getTimeMilli() << " ms" << endl;
	tm.start();
	pcl::io::savePLYFileASCII("lucy_ascii.ply", *cloud);
	tm.stop();
	std::cout << "save ply ascii cost time: " << tm.getTimeMilli() << " ms" << endl;
	tm.start();
	

	system("pause");
	return 0;
}

耗时：

保存文件大小：

二、加载不同格式点云时间对比

#include <iostream>     
#include <opencv2/opencv.hpp>
#include <pcl/io/pcd_io.h>  
#include <pcl/point_types.h> 
#include <pcl/io/ply_io.h>  
#include <chrono>
using namespace std;
int main()
{
	cv::TickMeter tm;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	
	
	//PCD
	tm.start();
	pcl::io::loadPCDFile("lucy_binary.pcd", *cloud);
	tm.stop();
	std::cout << "load pcd binary cost time: " << tm.getTimeMilli() << " ms" << endl;
	tm.start();
	pcl::io::loadPCDFile("lucy_ascii.pcd", *cloud);
	tm.stop();
	std::cout << "load pcd ascii cost time: " << tm.getTimeMilli() << " ms" << endl;
	tm.start();
	pcl::io::loadPCDFile("lucy_binaryCompressed.pcd", *cloud);
	tm.stop();
	std::cout << "load pcd binary_compressed cost time: " << tm.getTimeMilli() << " ms" << endl;

	//PLY
	tm.start();
	pcl::io::loadPLYFile("lucy_binary.ply", *cloud);
	tm.stop();
	std::cout << "load ply binary cost time: " << tm.getTimeMilli() << " ms" << endl;
	tm.start();
	pcl::io::loadPLYFile("lucy_ascii.ply", *cloud);
	tm.stop();
	std::cout << "load ply ascii cost time: " << tm.getTimeMilli() << " ms" << endl;
	tm.start();

	system("pause");
	return 0;
}

耗时：

总结

通过上述测试可知，保存文件未binary格式，所占体积最小，加载时，读取binary格式的点云速度最快。