- 如何获取pcd文件点云里点的格式,比如是pcl::PointXYZ还是pcl::PointXYZRGB等类型?
- 如何实现类似pcl::PointCloud::Ptr和pcl::PointCloud的两个类相互转换?
- PointCloud和PCLPointCloud2类型如何相互转换?
- 如何加快ASCII格式存储,也就是记事本打开可以看到坐标数据的pcd文件读取速度?建议将pcd文件换成以Binary格式存储。
- 如何给pcl::PointXYZ类型的点云在显示时指定颜色?
- 如何查找点云的x,y,z的极值?
- 如何判断点云中的点为无效点,即坐标值为nan,以及如何将点设置为无效点?
- 如何将无效点从点云中移除?
- 如果知道需要保存点的序号,如何从原点云中拷贝点到新点云?
- 如何从点云里删除和添加点?
- 如何对点云进行全局或局部的空间变换?
- 链接两个点云字段(两点云大小必须相同)
1.如何获取pcd文件点云里点的格式,比如是pcl::PointXYZ还是pcl::PointXYZRGB等类型?
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PCLPointCloud2.h>
int main(int argc, char **argv)
{
pcl::PCLPointCloud2 cloud;
pcl::PCDReader reader;
reader.readHeader("bun0.pcd", cloud);
for (int i = 0; i < cloud.fields.size(); i++)
{
std::cout << cloud.fields[i].name;
}
}
2.如何实现类似pcl::PointCloud::Ptr和pcl::PointCloud的两个类相互转换?
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPointer(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud = *cloudPointer;
cloudPointer = cloud.makeShared();
3.PointCloud和PCLPointCloud2类型如何相互转换?
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCLPointCloud2 cloud2;
pcl::io::loadPCDFile("C:office3-after21111.pcd", cloud2);
pcl::fromPCLPointCloud2(cloud2, *cloud);
pcl::toPCLPointCloud2(*cloud, cloud2);
4.如何加快ASCII格式存储,也就是记事本打开可以看到坐标数据的pcd文件读取速度?建议将pcd文件换成以Binary格式存储。
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PCLPointCloud2.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("C:office3-after1.pcd", *cloud);
pcl::io::savePCDFileBinary("C:office3-after21111.pcd", *cloud);
5.如何给pcl::PointXYZ类型的点云在显示时指定颜色?
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("C:office3-after21111.pcd", *cloud);
pcl::visualization::PCLVisualizer viewer("pointcloud viewer");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> sig(cloud, 0, 234, 0);
viewer.addPointCloud(cloud, sig, "cloud");
while (!viewer.wasStopped())
{
viewer.spinOnce();
}
6.如何查找点云的x,y,z的极值?
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
int main(int argc, char **argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("bun0.pcd", *cloud);
pcl::PointXYZ minPt, maxPt;
pcl::getMinMax3D(*cloud, minPt, maxPt);
std::cerr << " " << minPt.x << " " << minPt.y << " " << minPt.z << std::endl;
std::cerr << " " << maxPt.x << " " << maxPt.y << " " << maxPt.z << std::endl;
}
7.如何判断点云中的点为无效点,即坐标值为nan,以及如何将点设置为无效点?
#include <pcl/point_types.h>
int main(int argc, char **argv)
{
pcl::PointXYZ p_valid;
p_valid.x = 0;
p_valid.y = 0;
p_valid.z = 0;
std::cout << "Is p_valid valid? " << pcl::isFinite(p_valid) << std::endl;
pcl::PointXYZ p_invalid;
p_invalid.x = std::numeric_limits<float>::quiet_NaN();
p_invalid.y = 0;
p_invalid.z = 0;
std::cout << "Is p_invalid valid? " << pcl::isFinite(p_invalid) << std::endl;
}
8.如何将无效点从点云中移除?
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/filter.h>
int main(int argc, char **argv)
{
typedef pcl::PointCloud<pcl::PointXYZ> CloudType;
CloudType::Ptr cloud(new CloudType);
cloud->is_dense = false;
CloudType::Ptr output_cloud(new CloudType);
CloudType::PointType p_nan;
p_nan.x = std::numeric_limits<float>::quiet_NaN();
p_nan.y = std::numeric_limits<float>::quiet_NaN();
p_nan.z = std::numeric_limits<float>::quiet_NaN();
cloud->push_back(p_nan);
CloudType::PointType p_valid;
p_valid.x = 1.0f;
cloud->push_back(p_valid);
std::cout << "size: " << cloud->points.size() << std::endl;
std::vector<int> indices;
pcl::removeNaNFromPointCloud(*cloud, *output_cloud, indices);
std::cout << "size: " << output_cloud->points.size() << std::endl;
}
9.如果知道需要保存点的序号,如何从原点云中拷贝点到新点云?
#include <pcl/io/pcd_io.h>
#include <pcl/common/impl/io.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
int main(int argc, char **argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("bun0.pcd", *cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudOut(new pcl::PointCloud<pcl::PointXYZ>);
std::vector<int > indexs = { 1, 2, 5 };
pcl::copyPointCloud(*cloud, indexs, *cloudOut);
}
10.如何从点云里删除和添加点?
#include <pcl/io/pcd_io.h>
#include <pcl/common/impl/io.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
int main(int argc, char **argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("bun0.pcd", *cloud);
pcl::PointCloud<pcl::PointXYZ>::iterator index = cloud->begin();
cloud->erase(index);//删除第一个
index = cloud->begin() + 5;
cloud->erase(cloud->begin());//删除第5个
pcl::PointXYZ point = { 1, 1, 1 };
//在索引号为5的位置1上插入一点,原来的点后移一位
cloud->insert(cloud->begin() + 5, point);
cloud->push_back(point);//从点云最后面插入一点
std::cout << cloud->points[5].x;//输出1
}
11.如何对点云进行全局或局部的空间变换?
#include <pcl/io/pcd_io.h>
#include <pcl/common/impl/io.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/common/transforms.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile("path/.pcd",*cloud);
//全局变化
//构造变化矩阵
Eigen::Matrix4f transform_1 = Eigen::Matrix4f::Identity();
float theta = M_PI/4; //旋转的度数,这里是45度
transform_1 (0,0) = cos (theta); //这里是绕的Z轴旋转
transform_1 (0,1) = -sin(theta);
transform_1 (1,0) = sin (theta);
transform_1 (1,1) = cos (theta);
// transform_1 (0,2) = 0.3; //这样会产生缩放效果
// transform_1 (1,2) = 0.6;
// transform_1 (2,2) = 1;
transform_1 (0,3) = 25; //这里沿X轴平移
transform_1 (1,3) = 30;
transform_1 (2,3) = 380;
pcl::PointCloud<pcl::PointXYZ>::Ptr transform_cloud1 (new pcl::PointCloud<pcl::PointXYZ>);
pcl::transformPointCloud(*cloud,*transform_cloud1,transform_1); //不言而喻
//局部
pcl::transformPointCloud(*cloud,pcl::PointIndices indices,*transform_cloud1,matrix); //第一个参数为输入,第二个参数为输入点云中部分点集索引,第三个为存储对象,第四个是变换矩阵。
12..链接两个点云字段(两点云大小必须相同)
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_nomal (new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud,*cloud_normals,*cloud_with_nomal);
转载:
点云库PCL学习--点云常用操作_C#_zzh_AI的博客-CSDN博客blog.csdn.net![e35b5eb8f41cd2613897e42fd2f7e66f.png](https://i-blog.csdnimg.cn/blog_migrate/6e845bf7f9ee2b0274b38034026048d0.jpeg)
![65f6d363926f1be779e0448c24e06733.png](https://i-blog.csdnimg.cn/blog_migrate/ab83e0b3922f5f9aa78047b154f18dff.jpeg)