在进行PCL学习的过程中,最常见的点云类型就是pcl::PointCloud < pcl::PointXYZ >,随着不断学习,又遇到了pcl::PCLPointCloud2::Ptr这种点云的类型,因此弄清两者的转换关系十分有必要。
PCL中有两个函数直接解决了两者的转换关系:
1.pcl::fromPCLPointCloud2()
2.pcl::toPCLPointCloud2()
下面直接看一段代码:
//====================================================================
pcl::PCLPointCloud2::Ptr cloud_blob(new pcl::PCLPointCloud2),
cloud_filtered_blob(new pcl::PCLPointCloud2);//申明滤波前后的点云
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>),
pcl::PLYReader reader;
reader.read("hand.ply", *cloud_blob);
std::cout << "source pointcloud" << cloud_blob->width * cloud_blob->height << std::endl;
std::cout << cloud->size() << std::endl;
pcl::VoxelGrid<pcl::PCLPointCloud2> sor11;
sor11.setInputCloud(cloud_blob);
sor11.setLeafSize(0.05f, 0.05f, 0.05f);
sor11.filter(*cloud_filtered_blob);
//转换为模板点云
pcl::fromPCLPointCloud2(*cloud_filtered_blob, *cloud_filtered); //pcl::PCLPointCloud数据格式的点云转化为pcl::PointCloud<pointT>格式
//pcl::toPCLPointCloud2(*cloud_filtered, *cloud_filtered_blob);
std::cerr << "PointCloud after filtereing:" << cloud_filtered->size() << std::endl;
了解了点云类型之间的转换关系有利于以后更熟练的运用PCL。每天进步一小步!