目录
1.利用读写类读写ply格式点云
pcl::PLYReader是PCL库中用于读取PLY格式文件的类。 pcl::PLYWriter 是 PCL 库中用于将点云数据写入 PLY 文件格式的类。主要作用就是将 PCL 中的点云数据写入 PLY 文件格式中。使用时要加入头文件#include<pcl/io/ply_io.h>
1.1使用步骤
1.1.1.读取
#include <iostream>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
int main(int argc, char **argv) {
// 准备pcl::PointXYZ类型的点云
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 将pcd中的数据加载到cloud中
pcl::PLYReader plyRead;
if (plyRead.read("bunny.ply", *cloud) == -1) //* load the file
{
PCL_ERROR ("Couldn't read file bunny.ply \n");
return (-1);
}
std::cout << "点云数量"
<< cloud->width * cloud->height
<< std::endl;
return (0);
}
1.1.2.保存
#include <iostream>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
int
main(int argc, char **argv) {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 设置点云参数
cloud->width = 500;
cloud->height = 1;
cloud->is_dense = false;
cloud->points.resize(cloud.width * cloud.height);
// 随机生成500个点
for (size_t i = 0; i < cloud.points.size(); ++i) {
cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
pcl::PLYWriter plyWriter;
plyWriter.writeASCII("test.ply",*cloud);
std::cerr << "保存了: " << cloud->points.size() << " 点" << std::endl;
return (0);
}
2.利用读写函数读写ply的格式点云
loadPLYFile是 PCL 库中用于读取 .ply 格式点云数据文件的函数。 savePLYFile将点云数据保存为PLY格式文件的函数。使用时要加入头文件#include<pcl/io/ply_io.h>。
2.1使用步骤
2.1.1.读取
#include <iostream>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
int main(int argc, char **argv) {
// 准备pcl::PointXYZ类型的点云
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 将pcd中的数据加载到cloud中
if (pcl::io::loadPLYFile<pcl::PointXYZ>("bunny.ply", *cloud) == -1) //* load the file
{
PCL_ERROR ("Couldn't read file bunny.ply \n");
return (-1);
}
std::cout << "点云数量"
<< cloud->width * cloud->height
<< std::endl;
return (0);
}
2.2.2.保存
#include <iostream>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
int
main(int argc, char **argv) {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 设置点云参数
cloud->width = 500;
cloud->height = 1;
cloud->is_dense = false;
cloud->points.resize(cloud.width * cloud.height);
// 随机生成500个点
for (size_t i = 0; i < cloud.points.size(); ++i) {
cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
pcl::io::savePLYFileASCII("test_ply.ply", cloud);
std::cerr << "保存了: " << cloud->points.size() << " 点" << std::endl;
return (0);
}