点云格式转换

前言：
在接收激光雷达数据后，将点云保存为bin文件(tofile),再转换成pcd文件，便于可视化排查。

读取指定文件夹下的所有bin文件，并将bin文件转成txt文件

#-*- coding: UTF-8 -*- 
'''
读取指定文件夹下的所有bin文件，并将bin文件转成txt
'''
import os
import numpy as np
TXTpath='/home/nvidia/package/convertPCD/points_toTXT/'
def readFile(filepath):
    pathDir =os.listdir(filepath)
    for allDir in pathDir:
        child = os.path.join('%s%s' % (filepath,allDir)) #遍历获取文件夹下每一个文件
        tmp=allDir[:-4]
        b=np.fromfile(child,dtype=np.float64)#点云格式X,Y,Z,IntenSity
        a=b.reshape(-1,4)
        fp=open(TXTpath+tmp+'.txt','w+')
        for x in a:
            fp.write('{},{},{},{}\n'.format(x[0],x[1],x[2],x[3]))
        #print(a.shape)
        fp.close()

if __name__ == "__main__":        
    filepath='/home/nvidia/package/savePoints/points/'
    readFile(filepath)
    print("Finished!")

将txt文件转成pcd文件

转换pcd文件后，我借助PCL1.8+VTK7.1进行可视化排查

#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>


#include <string>
#include <dirent.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <vector>
#include <iostream>
#include <fstream>
using namespace std;
 
const char* path = "/home/nvidia/package/convertPCD/points_toTXT";

void writePCD(string filepath,string name)
{
    pcl::PointCloud<pcl::PointXYZI>cloud;
    string filename(filepath);
    string line;

    ifstream input_file(filename);
    if (!input_file.is_open()) {
        cerr << "Could not open the file - '"
             << filename << "'" << endl;
        return ;
    }
    
    while (getline(input_file, line)){
        pcl::PointXYZI points;
        int cnt=0;
        for(int i=0;i<line.size();i++)
        {
            int j=i;
            while(j<line.size()&&line[j]!=',') j++;
            string tmp=line.substr(i,j-i);
            stringstream ss;
            ss<<tmp;
            if(cnt==0)
                ss>>points.x;
            else if(cnt==1)
                ss>>points.y;
            else if(cnt==2)
                ss>>points.z;
            else 
                ss>>points.intensity;
            i=j;
            cnt+=1;
        }
        cloud.push_back(points);
    }

    cloud.width    = cloud.size(); //设置点云宽度
    cloud.height   = 1; //设置点云高度
    cloud.is_dense = false; //非密集型
    cloud.points.resize (cloud.width * cloud.height); //变形，无序
        //保存到PCD文件
    pcl::io::savePCDFileASCII ("/home/nvidia/package/convertPCD/to_pcd/"+name, cloud); //将点云保存到PCD文件中
  
}
void GetFileNames(string path)
{
    DIR *pDir;
    struct dirent* ptr;
    if(!(pDir = opendir(path.c_str())))
    {
        cout<<"Folder doesn't Exist!"<<endl;
        return;
    }
    while((ptr = readdir(pDir))!=0)
    {
        if( strcmp(ptr->d_name,".")!= 0 && strcmp(ptr->d_name,"..")!=0)
        {
            string tmp=path+"/"+ptr->d_name;
            string name=ptr->d_name;
            name=name.substr(0,name.size()-4)+".pcd";
            writePCD(tmp,name);
        }
    
    }
    closedir(pDir);
}

int main(){
    GetFileNames(path);
    cout<<"save finished!\n";
    return 0;
}

加入矩形检测框/包围盒

#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <boost/thread/thread.hpp>
#include<iostream>
#include<cstring>
#include<fstream>
#include<sstream>

#include<chrono>
#include<thread>
#include <string>
#include <vector>
#include <memory.h>
#include <dirent.h>
using namespace std;

pcl::PointXYZ min_point_AABB;
pcl::PointXYZ max_point_AABB;
void addcube(double x,double y,double z,double length,double width,double height)
{
    min_point_AABB.x=x-1.0*length/2;
    max_point_AABB.x=x+1.0*length/2;
    min_point_AABB.y=y-1.0*width/2;
    max_point_AABB.y=y+1.0*width/2;
    min_point_AABB.z=z-1.0*height/2;
    max_point_AABB.z=z+1.0*height/2;
}
int main()
{
    //点云可视化
	pcl::PointCloud<pcl::PointXYZI>::Ptr points(new pcl::PointCloud<pcl::PointXYZI>); // 创建点云（指针）
 
	if (pcl::io::loadPCDFile("/home/chunqiaohuang/2023_2_1/to_pcd/2023-02-01_17_55_46_421112_points.pcd", *points) == -1) {
		//* load the file 
		PCL_ERROR("Couldn't read PCD file \n");
		return (-1);
	}
    

	pcl::visualization::PCLVisualizer::Ptr visualizer(
      new pcl::visualization::PCLVisualizer("PointCloud Visualizer"));
	visualizer->setBackgroundColor(0, 0, 0);
	
	 pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> color(points,"intensity");  //按x,y,z 或者intensity字段进行渲染

	visualizer->addPointCloud<pcl::PointXYZI>(points, color,"PointCloud");
	visualizer->setPointCloudRenderingProperties(
		pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "PointCloud");
	visualizer->addCoordinateSystem(5.0);




 //addcube(5.7184134 , -3.0686862  , 0.7386773,   4.7824435  , 2.0354595 ,  1.5065442);
   //visualizer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "C");//AABB盒子

//激光雷达检测框给出的x,y,z,Length,Width,Height
  addcube(8.89006  ,  -2.3264775  , 0.7289083 ,  4.960851 ,   1.9822526  , 1.4682052);
  visualizer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "D");//AABB盒子
// addcube(3.30818247795105,-1.933619499206543,0.933719277381897,0.7527800798416138,0.6729323863983154,1.8410567045211792);
//  visualizer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "B");//AABB盒子
// addcube(5.494444847106934,-3.135831117630005,0.7074905037879944,4.77634859085083,1.9750992059707642,1.4501127004623413);
// visualizer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "A");//AABB盒子


	visualizer->setRepresentationToWireframeForAllActors();//线框模式
	visualizer->resetCameraViewpoint();
	
	while (!visualizer->wasStopped()) {
		visualizer->spinOnce(100);
		std::this_thread::sleep_for(std::chrono::milliseconds(100));
	}
}

可视化结果