pcl之open3d数据与pcl数据相互转换

最新推荐文章于 2024-03-03 23:52:38 发布

ancy_i_cv

最新推荐文章于 2024-03-03 23:52:38 发布

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分类专栏： pcl open3d 文章标签： c++ 算法开发语言

本文链接：https://blog.csdn.net/u014072827/article/details/126846130

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#include<pcl/point_types.h>
#include<pcl/io/pcd_io.h>
#include <open3d/Open3D.h>
#include <iostream>


using namespace open3d;
using namespace std;

std::shared_ptr<geometry::PointCloud> LoadPLY(const string &path) {
    auto cloud_ptr = std::make_shared<geometry::PointCloud>();
    open3d::io::ReadPointCloud(path, *cloud_ptr);
    return cloud_ptr;
}

pcl::PointCloud<pcl::PointXYZ>::Ptr CvtO3DToPCL(std::shared_ptr<geometry::PointCloud> pc) {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
    cloud_ptr->resize(pc->points_.size());
    for (int i = 0; i < pc->points_.size(); i++) {
        cloud_ptr->points[i].x = pc->points_[i].x();
        cloud_ptr->points[i].y = pc->points_[i].y();
        cloud_ptr->points[i].z = pc->points_[i].z();
    }
    return cloud_ptr;
}

std::shared_ptr<geometry::PointCloud> CvtPCLToO3D(pcl::PointCloud<pcl::PointXYZ>::Ptr pc) {

    auto open3d_cloud_ptr = std::make_shared<geometry::PointCloud>();
    open3d_cloud_ptr->points_.resize(pc->points.size());
    for (int i = 0; i < pc->points.size(); i++) {
        open3d_cloud_ptr->points_[i][0] = pc->points[i].x;
        open3d_cloud_ptr->points_[i][1] = pc->points[i].y;
        open3d_cloud_ptr->points_[i][2] = pc->points[i].z;
    }
    return open3d_cloud_ptr;
}


int main() {
    auto o3d_ply = LoadPLY("/home/rvbust/Documents/test1.ply");

    auto pcl_cloud_ptr = CvtO3DToPCL(o3d_ply);
    auto o3d_cloud_ptr = CvtPCLToO3D(pcl_cloud_ptr);

    visualization::DrawGeometries({o3d_cloud_ptr}, "PointCloud");

    return 0;
}