将ply文件转换为pcd文件

最新推荐文章于 2024-01-13 23:26:34 发布

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最新推荐文章于 2024-01-13 23:26:34 发布

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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/io/vtk_io.h>
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
#include <pcl/visualization/cloud_viewer.h>

using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;

int main()
{
   //pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>());
   pcl::io::loadPCDFile("model1.pcd",*cloud);

   ply文件显示
   //pcl::PolygonMesh mesh;
   //vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();

   //pcl::io::loadPolygonFilePLY("raw.ply", mesh);
   ply另存vtk
   pcl::io::saveVTKFile("temp.vtk", mesh);
   //pcl::io::mesh2vtk(mesh, polydata);

   //pcl::io::vtkPolyDataToPointCloud(polydata, *cloud);

   两种存贮方式 pcd另存pcd
   //pcl::PCDWriter pcdwriter;
   pcdwriter.write<pcl::PointXYZRGBA>("save_ply2vtk2pcd.pcd", *cloud);
   //pcl::io::savePCDFileASCII("raw1.pcd", *cloud);

   //*VCGLIB生成的ply
   /*pcl::PCLPointCloud2 clod;
   pcl::io::loadPLYFile("raw.ply", clod);
   pcl::io::savePCDFile("raw11.pcd", clod);*/

   pcl::PCLPointCloud2 clod;
   pcl::PLYReader reader;
   reader.read("raw.ply", clod);
   pcl::PCDWriter writer;
   writer.writeASCII("raw11.pcd", clod);

   pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
   //对于ply文件中格式为RGBA格式，则上句改写为
   //pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>());
   pcl::io::loadPCDFile("raw11.pcd", *cloud);

   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewe(new pcl::visualization::PCLVisualizer("ss"));
   //viewe->initCameraParameters();
   viewe->setBackgroundColor(0, 0, 0);
   //viewe->addCoordinateSystem(1.0f);
   pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> color(cloud);
   //对于ply文件中格式为RGBA格式，则上句改写为
   //pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> color(cloud);
   viewe->addPointCloud<pcl::PointXYZRGB>(cloud, color, "cloud");
   //对于ply文件中格式为RGBA格式，则上句改写为
   //viewe->addPointCloud<pcl::PointXYZRGBA>(cloud, color, "cloud");

   //viewe->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_FONT_SIZE, 2, "cloud");
   while (!viewe->wasStopped()) {
       viewe->spinOnce(100);
       boost::this_thread::sleep(boost::posix_time::microseconds(100000));
   }
   return 0;

}