PCL—从PCD文件中读取点云数据（一）

1、从PCD文件中读取点云数据

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

int main(int argc,char** argv)
{
    
    
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);

	if(pcl::io::loadPCDFile<pcl::PointXYZ>("test_pcd.pcd",*cloud)==-1)//*打开点云文件
	{
    
    
		PCL_ERROR("Couldn't read file test_pcd.pcd\n");
		return(-1);
	}
	std::cout<<"Loaded "
		<<cloud->width*cloud->height
		<<" data points from test_pcd.pcd with the following fields: "
		<<std::endl;
	for(size_t i=0;i<cloud->points.size();++i)
	std::cout<<"    "<<cloud->points[i].x
		<<" "<<cloud->points[i].y
		<<" "<<cloud->points[i].z<<std::endl;
	std::cout<<"cloud width: "
		<<cloud->width<<std::endl;
	std::cout<<"cloud height: "
		<<cloud->height<<std::endl;
	system("pause");
	return(0);
}

效果如下：

2、在PCD文件中写入点云数据

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

int main(int argc,char**argv)
{
    
    
	pcl::PointCloud<pcl::PointXYZ> cloud;
	// 创建点云
	cloud.width=5;
	cloud.height=1;
	cloud.is_dense=false;
	cloud.points.resize(cloud.width*cloud.height);
	for(size_t i=0;i<cloud.points.size();++i)
	{
    
    
		cloud.points[i].x=1024*rand()/(RAND_MAX+1.0f);
		cloud.points[i].y=1024*rand()/(RAND_MAX+1.0f);
		cloud.points[i].z=1024*rand()/(RAND_MAX+1.0f);
		if(i==1)
		{
    
    
			cloud.points[i].x=521;
		}
	}
	pcl::io::savePCDFileASCII("test_pcd.pcd",cloud);
	std::cerr<<"Saved "<<cloud.points.size()<<" data points to test_pcd.pcd."<<std::endl;
	for(size_t i=0;i<cloud.points.size();++i)
		std::cerr<<"    "<<cloud.points[i].x<<" "<<cloud.points[i].y<<" "<<cloud.points[i].z<<std::endl;
	system("pause");
	return(0);
}

结果如下：

3、点云的字段拼接
要求两个点集中的点的数目必须一样

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

int main(int argc,char** argv)
{
    
    
	//if(argc!=2)
	//{
    
    
	//	std::cerr<<"please specify command line arg '-f' or '-p'"<<std::endl;
	//	exit(0);
	//}
	argv[1] = "-f";	
	pcl::PointCloud<pcl::PointXYZ> cloud_a,cloud_b,cloud_c;
	pcl::PointCloud<pcl::Normal> n_cloud_b;
	pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;
	// 创建点云
	cloud_a.width=5;//a的点个数为5
	cloud_a.height=cloud_b.height=n_cloud_b.height=1;//设置为无序点云
	cloud_a.points.resize(cloud_a.width*cloud_a.height);
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		cloud_b.width=3;
		cloud_b.points.resize(cloud_b.width*cloud_b.height);
	}
	else
	{
    
    
		n_cloud_b.width=5;
		n_cloud_b.points.resize(n_cloud_b.width*n_cloud_b.height);
	}
	for(size_t i=0;i<cloud_a.points.size();++i)
	{
    
    
		cloud_a.points[i].x=1024*rand()/(RAND_MAX+1.0f);
		cloud_a.points[i].y=1024*rand()/(RAND_MAX+1.0f);
		cloud_a.points[i].z=1024*rand()/(RAND_MAX+1.0f);
	}
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		for(size_t i=0;i<cloud_b.points.size();++i)
		{
    
    
			cloud_b.points[i].x=1024*rand()/(RAND_MAX+1.0f);
			cloud_b.points[i].y=1024*rand()/(RAND_MAX+1.0f);
			cloud_b.points[i].z=1024*rand()/(RAND_MAX+1.0f);
		}
	}
	else
	{
    
    
		for(size_t i=0;i<n_cloud_b.points.size();++i)
		{
    
    
			n_cloud_b.points[i].normal[0]=1024*rand()/(RAND_MAX+1.0f);
			n_cloud_b.points[i].normal[1]=1024*rand()/(RAND_MAX+1.0f);
			n_cloud_b.points[i].normal[2]=1024*rand()/(RAND_MAX+1.0f);
		}
	}
	std::cerr<<"Cloud A: "<<std::endl;
	for(size_t i=0;i<cloud_a.points.size();++i)
		std::cerr<<"    "<<cloud_a.points[i].x<<" "<<cloud_a.points[i].y<<" "<<cloud_a.points[i].z<<std::endl;

	std::cerr<<"Cloud B: "<<std::endl;
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		for(size_t i=0;i<cloud_b.points.size();++i)
		std::cerr<<"    "<<cloud_b.points[i].x<<" "<<cloud_b.points[i].y<<" "<<cloud_b.points[i].z<<std::endl;
	}
	else
	{
    
    
		for(size_t i=0;i<n_cloud_b.points.size();++i)
		std::cerr<<"    "<<n_cloud_b.points[i].normal[0]<<" "<<n_cloud_b.points[i].normal[1]<<" "<<n_cloud_b.points[i].normal[2]<<std::endl;
	}
	//拷贝点云数据
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		cloud_c=cloud_a;
		cloud_c+=cloud_b;
		std::cerr<<"Cloud C: "<<std::endl;
		for(size_t i=0;i<cloud_c.points.size();++i)
			std::cerr<<"    "<<cloud_c.points[i].x<<" "<<cloud_c.points[i].y<<" "<<cloud_c.points[i].z<<" "<<std::endl;
	}
	else
	{
    
    
		pcl::concatenateFields(cloud_a,n_cloud_b,p_n_cloud_c);
		std::cerr<<"Cloud C: "<<std::endl;
		for(size_t i=0;i<p_n_cloud_c.points.size();++i)
		{
    
    
			std::cerr<<"    "<<
			p_n_cloud_c.points[i].x<<" "<<p_n_cloud_c.points[i].y<<" "<<p_n_cloud_c.points[i].z<<" "<<
			p_n_cloud_c.points[i].normal[0]<<" "<<p_n_cloud_c.points[i].normal[1]<<" "<<p_n_cloud_c.points[i].normal[2]<<std::endl;
		}
	}
	system("pause");
	return(0);
}

结果如下：

4、点云的拼接
代码如下：

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

int main(int argc,char** argv)
{
    
    
	//if(argc!=2)
	//{
    
    
	//	std::cerr<<"please specify command line arg '-f' or '-p'"<<std::endl;
	//	exit(0);
	//}
	argv[1] = "-p";	
	pcl::PointCloud<pcl::PointXYZ> cloud_a,cloud_b,cloud_c;
	pcl::PointCloud<pcl::Normal> n_cloud_b;
	pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;
	// 创建点云
	cloud_a.width=5;//a的点个数为5
	cloud_a.height=cloud_b.height=n_cloud_b.height=1;//设置为无序点云
	cloud_a.points.resize(cloud_a.width*cloud_a.height);
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		cloud_b.width=3;
		cloud_b.points.resize(cloud_b.width*cloud_b.height);
	}
	else
	{
    
    
		n_cloud_b.width=5;
		n_cloud_b.points.resize(n_cloud_b.width*n_cloud_b.height);
	}
	for(size_t i=0;i<cloud_a.points.size();++i)
	{
    
    
		cloud_a.points[i].x=1024*rand()/(RAND_MAX+1.0f);
		cloud_a.points[i].y=1024*rand()/(RAND_MAX+1.0f);
		cloud_a.points[i].z=1024*rand()/(RAND_MAX+1.0f);
	}
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		for(size_t i=0;i<cloud_b.points.size();++i)
		{
    
    
			cloud_b.points[i].x=1024*rand()/(RAND_MAX+1.0f);
			cloud_b.points[i].y=1024*rand()/(RAND_MAX+1.0f);
			cloud_b.points[i].z=1024*rand()/(RAND_MAX+1.0f);
		}
	}
	else
	{
    
    
		for(size_t i=0;i<n_cloud_b.points.size();++i)
		{
    
    
			n_cloud_b.points[i].normal[0]=1024*rand()/(RAND_MAX+1.0f);
			n_cloud_b.points[i].normal[1]=1024*rand()/(RAND_MAX+1.0f);
			n_cloud_b.points[i].normal[2]=1024*rand()/(RAND_MAX+1.0f);
		}
	}
	std::cerr<<"Cloud A: "<<std::endl;
	for(size_t i=0;i<cloud_a.points.size();++i)
		std::cerr<<"    "<<cloud_a.points[i].x<<" "<<cloud_a.points[i].y<<" "<<cloud_a.points[i].z<<std::endl;

	std::cerr<<"Cloud B: "<<std::endl;
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		for(size_t i=0;i<cloud_b.points.size();++i)
		std::cerr<<"    "<<cloud_b.points[i].x<<" "<<cloud_b.points[i].y<<" "<<cloud_b.points[i].z<<std::endl;
	}
	else
	{
    
    
		for(size_t i=0;i<n_cloud_b.points.size();++i)
		std::cerr<<"    "<<n_cloud_b.points[i].normal[0]<<" "<<n_cloud_b.points[i].normal[1]<<" "<<n_cloud_b.points[i].normal[2]<<std::endl;
	}
	//拷贝点云数据
	if(strcmp(argv[1],"-p")==0)
	{
    
    
		cloud_c=cloud_a;
		cloud_c+=cloud_b;
		std::cerr<<"Cloud C: "<<std::endl;
		for(size_t i=0;i<cloud_c.points.size();++i)
			std::cerr<<"    "<<cloud_c.points[i].x<<" "<<cloud_c.points[i].y<<" "<<cloud_c.points[i].z<<" "<<std::endl;
	}
	else
	{
    
    
		pcl::concatenateFields(cloud_a,n_cloud_b,p_n_cloud_c);
		std::cerr<<"Cloud C: "<<std::endl;
		for(size_t i=0;i<p_n_cloud_c.points.size();++i)
		{
    
    
			std::cerr<<"    "<<
			p_n_cloud_c.points[i].x<<" "<<p_n_cloud_c.points[i].y<<" "<<p_n_cloud_c.points[i].z<<" "<<
			p_n_cloud_c.points[i].normal[0]<<" "<<p_n_cloud_c.points[i].normal[1]<<" "<<p_n_cloud_c.points[i].normal[2]<<std::endl;
		}
	}
	system("pause");
	return(0);
}

效果如下：

5、ply转pcd文件并显示

#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include<pcl/visualization/cloud_viewer.h>
#include<pcl/point_cloud.h>

using namespace pcl;
using namespace pcl::io;

int main (int argc, char** argv)
{
    
    
    pcl::PLYReader reader;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    reader.read<pcl::PointXYZ>("testply.ply", *cloud);
    pcl::io::savePCDFile("testpcd.pcd", *cloud );

	pcl::visualization::CloudViewer viewer ("Cloud Viewer");  //Cloud Viewer 是显示窗口栏的名称 
    
    viewer.showCloud(cloud);
    
    while (!viewer.wasStopped ())
    {
    
    
    }
    return 0;
}

测试效果如下：

5、pcd转ply文件并显示

#include <iostream>          //输入输出流头文件
#include <pcl/io/pcd_io.h>   //打开关闭pcd类定义头文件
#include <pcl/point_types.h> //所有点类型定义头文件
#include <pcl/io/ply_io.h>   //打开关闭ply类定义头文件
#include<pcl/visualization/cloud_viewer.h>
#include<pcl/point_cloud.h>

int main(int argc, char** argv)
{
    
    
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("bun.pcd", *cloud) == -1) //加载文件
	{
    
    
		PCL_ERROR("Couldn't read file  \n");
		system("PAUSE");
		return (-1);
	}
	pcl::visualization::CloudViewer viewer ("Cloud Viewer");  //Cloud Viewer 是显示窗口栏的名称 
    
    viewer.showCloud(cloud);

	//显示点云数量
	std::cout << "point number: "
		<< cloud->width * cloud->height
		<< std::endl;

	std::string filename("bun1.ply");
	pcl::PLYWriter writer;
	writer.write("bun1.ply", *cloud);  //保存文件

	system("PAUSE");
	return (0);
}

测试结果如下：