las和pcd文件相互转换

1、las2pcd

//#include<iostream>
//las2pcd

#include <iostream>
#include <iterator>
#include <cstdlib>
#include <liblas/liblas.hpp>//liblas tou wen jin
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <liblas/reader.hpp>
#include <liblas/factory.hpp>///usr/local/include/liblas/factory.hpp

#include <liblas/detail/fwd.hpp>
#include <liblas/point.hpp>

#include <string.h>
#include <stdio.h>

using namespace std;

string split(const string &str, const string &pattern);//分割字符串的函数声明

int main (int argc, char** argv)
{
    std::ifstream ifs(argv[1], std::ios::in | std::ios::binary); // ��las�ļ�
    liblas::ReaderFactory f;
    liblas::Reader reader = f.CreateWithStream(ifs); // ��ȡlas�ļ�

    unsigned long int nbPoints=reader.GetHeader().GetPointRecordsCount();//��ȡlas���ݵ�ĸ���

    pcl::PointCloud<pcl::PointXYZRGB> cloud;
    cloud.width    = nbPoints;	//��֤��las���ݵ�ĸ���һ��
    cloud.height   = 1;
    cloud.is_dense = false;
    cloud.points.resize (cloud.width * cloud.height);

    int i=0;
    uint16_t r1, g1, b1;
    int r2, g2, b2;
    uint32_t rgb;

    while(reader.ReadNextPoint())
    {
        // ��ȡlas���ݵ�x��y��z��Ϣ
        cloud.points[i].x = (reader.GetPoint().GetX());
        cloud.points[i].y = (reader.GetPoint().GetY());
        cloud.points[i].z = (reader.GetPoint().GetZ());

        //��ȡlas���ݵ�r��g��b��Ϣ
        r1 = (reader.GetPoint().GetColor().GetRed());
        g1 = (reader.GetPoint().GetColor().GetGreen());
        b1 = (reader.GetPoint().GetColor().GetBlue());
        r2 = ceil(((float)r1/65536)*(float)256);
        g2 = ceil(((float)g1/65536)*(float)256);
        b2 = ceil(((float)b1/65536)*(float)256);
        rgb = ((int)r2) << 16 | ((int)g2) << 8 | ((int)b2);
        cloud.points[i].rgb = *reinterpret_cast<float*>(&rgb);

        i++;
    }

	
	//分割重组字符串

	string oss = split(argv[1],".las");


	std::cout<<oss<<" Generated! " << std::endl;


    pcl::io::savePCDFileASCII (oss, cloud);//�洢Ϊpcd�����ļ�
    return (0);
}



string split(const string &str, const string &pattern)
{
	string backString;
    vector<string> res;
    if(str == ""){
        std::cout<<"\n输入的字符串为空！\n"<<std::endl;
    }

    //在字符串末尾也加入分隔符，方便截取最后一段
    string strs = str + pattern;
    size_t pos = strs.find(pattern);

    while(pos != strs.npos)
    {
        string temp = strs.substr(0, pos);
        res.push_back(temp);
        //去掉已分割的字符串,在剩下的字符串中进行分割
        strs = strs.substr(pos+1, strs.size());
        pos = strs.find(pattern);
    }

//便利vector把每一个保存到string中
//    for (std::vector<string>::const_iterator iter = res.begin(); iter != res.end();iter++)
//		{
//    		cout << *iter << " ";
//			backString = backString + *iter;
//		}
	backString = res[0] + ".pcd";
	return backString;
}

2、pcd2las

#include <liblas/liblas.hpp>
#include <iomanip>
#include <iostream>
#include <sstream>
#include <cmath>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <string>

//  实现Unshort转为Unchar类型
//int Unshort2Unchar(uint16_t &green, uint8_t &g)
//{
//    unsigned short * word;
//    word = &green;
//    int size = WideCharToMultiByte(CP_ACP, 0, LPCWSTR(word), -1, NULL, 0, NULL, FALSE);
//    char *AsciiBuff=new char[size];
//    WideCharToMultiByte(CP_ACP, 0, LPCWSTR(word), -1, AsciiBuff, size, NULL, FALSE);
//    g = *AsciiBuff;
//
//    delete[] AsciiBuff;
//    AsciiBuff = NULL;
//    return 0;
//}

void writePointCloudFromLas(const char* strInputLasName, const char* strOutPutPointCloudName)
{
    //打开las文件
    std::ifstream ifs;
    ifs.open(strInputLasName, std::ios::in | std::ios::binary);
    if (!ifs.is_open())
    {
        std::cout << "无法打开.las" << std::endl;
        return;
    }
    liblas::ReaderFactory readerFactory;
    liblas::Reader reader = readerFactory.CreateWithStream(ifs);
    //写点云
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOutput(new pcl::PointCloud<pcl::PointXYZRGBA>());
    cloudOutput->clear();
    while (reader.ReadNextPoint())
    {
        double x = reader.GetPoint().GetX();
        double y = reader.GetPoint().GetY();
        double z = reader.GetPoint().GetZ();
        uint16_t red = reader.GetPoint().GetColor()[0];
        uint16_t green = reader.GetPoint().GetColor()[1];
        uint16_t blue = reader.GetPoint().GetColor()[2];

        /*****颜色说明
        *   uint16_t  范围为0-256*256 ；
        *   pcl 中 R  G  B利用的unsigned char  0-256；
        *   因此这里将uint16_t 除以256  得到  三位数的0-256的值
        *   从而进行rgba 值32位 的位运算。
        *
        ******/

        pcl::PointXYZRGBA thePt;  //int rgba = 255<<24 | ((int)r) << 16 | ((int)g) << 8 | ((int)b);
        thePt.x = x; thePt.y = y; thePt.z = z;
        thePt.rgba = (uint32_t)255 << 24 | (uint32_t)(red / 256) << 16 | (uint32_t)(green / 256) << 8 | (uint32_t)(blue / 256);
            //uint32_t rgb = *reinterpret_cast<int*>(&thePt.rgb);  //reinterpret_cast 强制转换
        cloudOutput->push_back(thePt);
    }

    //boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    //viewer->setBackgroundColor(0, 0, 0); //设置背景
    //viewer->addPointCloud(cloudOutput,"cloudssd");
    //while (!viewer->wasStopped()){
    //    viewer->spinOnce();
    //}
    pcl::io::savePCDFileASCII(strOutPutPointCloudName, *cloudOutput);
    cloudOutput->clear();
}

//读入点云，写.las

void writeLasFromPointCloud3(const std::string strInputPointCloudName, std::string strOutLasName)
{
    std::ofstream ofs(strOutLasName.c_str(), ios::out | ios::binary);
    if (!ofs.is_open())
    {
        std::cout << "err  to  open  file  las....." << std::endl;
        return;
    }
    liblas::Header header;
    header.SetVersionMajor(1);
    header.SetVersionMinor(2);
    header.SetDataFormatId(liblas::ePointFormat3);
    header.SetScale(0.001, 0.001, 0.001);

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile(strInputPointCloudName, *cloud);
    std::cout << "总数:" << cloud->points.size() << std::endl;
    //写liblas,
    liblas::Writer writer(ofs, header);
    liblas::Point point(&header);

    for (size_t i = 0; i < cloud->points.size(); i++)
    {
        double x = cloud->points[i].x;
        double y = cloud->points[i].y;
        double z = cloud->points[i].z;
        point.SetCoordinates(x, y, z);

//        uint32_t red = (uint32_t)cloud->points[i].r;
//        uint32_t green = (uint32_t)cloud->points[i].g;
//        uint32_t blue = (uint32_t)cloud->points[i].b;
//        liblas::Color pointColor(red, green, blue);
//        point.SetColor(pointColor);
        writer.WritePoint(point);
        //std::cout << x << "," << y << "," << z << std::endl;
    }
    double minPt[3] = { 9999999, 9999999, 9999999 };
    double maxPt[3] = { 0, 0, 0 };
    header.SetPointRecordsCount(cloud->points.size());
    header.SetPointRecordsByReturnCount(0, cloud->points.size());
    header.SetMax(maxPt[0], maxPt[1], maxPt[2]);
    header.SetMin(minPt[0], minPt[1], minPt[2]);
    writer.SetHeader(header);
}

int main(int argc,char** argv)
{
    //char strInputLasName[] = "qq.las";//"Scan_az001.las";
    //char strOutPutPointCloudName[]="qqqq.pcd";
    //writePointCloudFromLas(strInputLasName, strOutPutPointCloudName);

    //std::string strInputPointCloudName = "eewge";
    //std::string strOutLasName = "eewge";
    //writeLasFromPointCloud(strInputPointCloudName.c_str(), strOutLasName.c_str());
	if(argc<3){std::cout<<"参数个数不能少于三个！"<<std::endl;
				return -1;}

    std::string strInputPointCloudName = argv[1];
    std::string strOutLasName = argv[2];
    writeLasFromPointCloud3(strInputPointCloudName, strOutLasName);

    return 0;
}