PCL点云添加新字段

最新推荐文章于 2024-03-16 22:42:58 发布

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最新推荐文章于 2024-03-16 22:42:58 发布

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分类专栏： PCL 文章标签： c++ PCL Powered by 金山文档

本文链接：https://blog.csdn.net/u011489887/article/details/128808935

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相关代码如下：

#include <pcl/io/pcd_io.h>

//-------------------------- 自定义点云类型 --------------------------
struct PointXYZRGBGpsTime
{
    PCL_ADD_POINT4D;    //添加XYZ，此时相当于 PointXYZ
    PCL_ADD_RGB;        //添加RGB，此时相当于 PointXYZRGB
    
    double GpsTime;        //添加新的字段

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW        //确保new操作符对齐操作

}EIGEN_ALIGN16;//强制SSE内存对齐

//注册点类型宏(要包含所有添加的字段，否则无法正常使用未注册的字段)
POINT_CLOUD_REGISTER_POINT_STRUCT(PointXYZRGBGpsTime,
                                    (float, x, x)
                                    (float, y, y)
                                    (float, z, z)
                                    (uint8_t, b, b)
                                    (uint8_t, g, g)
                                    (uint8_t, r, r)
                                    (float, rgb, rgb)
                                    (double, GpsTime, GpsTime)
)
//========================== 自定义点云类型 ==========================

using namespace std;

typedef PointXYZRGBGpsTime PointT;

//测试函数
void test_XYZRGBGpsTime()
{
    pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
    cloud->width = 1000;
    cloud->height = 1;
    cloud->is_dense = true;
    cloud->points.resize(cloud->width*cloud->height);
    for (size_t i = 0; i < cloud->points.size(); i++)
    {
        ///XYZ
        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);
        ///RGB
        cloud->points[i].r = (uint8_t)(i * 255 / cloud->points.size());
        cloud->points[i].g = (uint8_t)((cloud->points.size() - i) * 255 / cloud->points.size());
        cloud->points[i].b = (uint8_t)(i * 255 / cloud->points.size());
        ///GpsTime
        cloud->points[i].GpsTime = i * 1.0;
    }
    pcl::io::savePCDFileBinary("PointXYZRGBGpsTime.pcd", *cloud);
}

int main()
{
    test_XYZRGBGpsTime();

    return 0;
}