从PCD文件写入和读取点云数据

时间:2023-03-09 04:25:57
从PCD文件写入和读取点云数据

(1)学习向PCD文件写入点云数据

建立工程文件ch2,然后新建write_pcd.cpp  CMakeLists.txt两个文件

write_pcd.cpp :

#include <iostream>              //标准C++库中的输入输出的头文件
#include <pcl/io/pcd_io.h> //PCD读写类相关的头文件
#include <pcl/point_types.h> //PCL中支持的点类型的头文件 int
main (int argc, char** argv)
{
//实例化的模板类PointCloud 每一个点的类型都设置为pcl::PointXYZ
/*************************************************
点PointXYZ类型对应的数据结构
Structure PointXYZ{
float x;
float y;
float z;
};
**************************************************/
pcl::PointCloud<pcl::PointXYZ> cloud; // 创建点云 并设置适当的参数(width height is_dense)
cloud.width = ;
cloud.height = ;
cloud.is_dense = false; //不是稠密型的
cloud.points.resize (cloud.width * cloud.height); //点云总数大小
//用随机数的值填充PointCloud点云对象
for (size_t i = ; i < cloud.points.size (); ++i)
{
cloud.points[i].x = * rand () / (RAND_MAX + 1.0f);
cloud.points[i].y = * rand () / (RAND_MAX + 1.0f);
cloud.points[i].z = * rand () / (RAND_MAX + 1.0f);
}
//把PointCloud对象数据存储在 test_pcd.pcd文件中
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud); //打印输出存储的点云数据
std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl; for (size_t i = ; i < cloud.points.size (); ++i)
std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl; return ();
}

CMakeLists.txt:(第一次接触CMake所以注释的比较多,废话比较多,所以有助于理解)

cmake_minimum_required ( VERSION 2.6 FATAL_ERROR)   #对于cmake版本的最低版本的要求
project(ch2) #建立的工程名,例如源代码目录路径的变量名为CH_DIR
#工程存储目录变量名为CH_BINARY_DIR
#要求工程依赖的PCL最低版本为1.,并且版本至少包含common和IO两个模块 这里的REQUIRED意味着如果对应的库找不到 则CMake配置的过程将完全失败,
#因为PCL是模块化的,也可以如下操作:
# 一个组件 find_package(PCL 1.6 REQUIRED COMPONENTS io)
# 多个组件 find_package(PCL 1.6 REQUIRED COMPONENTS commom io)
# 所有组件 find_package(PCL 1.6 REQUIRED )
find_package(PCL 1.3 REQUIRED) #下面的语句是利用CMake的宏完成对PCL的头文件路径和链接路径变量的配置和添加,如果缺少下面几行,生成文件的过程中就会提示
#找不到相关的头文件,在配置CMake时,当找到了安装的PCL,下面相关的包含的头文件,链接库,路径变量就会自动设置
# PCL_FOUND:如果找到了就会被设置为1 ,否则就不设置
# PCL_INCLUDE_DIRS:被设置为PCL安装的头文件和依赖头文件的目录
# PCL_LIBRARIES:被设置成所建立和安装的PCL库头文件
# PCL_LIBRARIES_DIRS:被设置成PCL库和第三方依赖的头文件所在的目录
# PCL_VERSION:所找到的PCL的版本
# PCL_COMPONENTS:列出所有可用的组件
# PCL_DEFINITIONS:列出所需要的预处理器定义和编译器标志
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARIES_DIRS})
add_definitions(${PCL_DEFINITIONS}) #这句话告诉CMake从单个源文件write_pcd建立一个可执行文件
add_executable(write_pcd write_pcd.cpp)
#虽然包含了PCL的头文件,因此编译器知道我们现在访问所用的方法,我们也需要让链接器知道所链接的库,PCL找到库文件由
#PCL_COMMON_LIBRARIES变量指示,通过target_link_libraries这个宏来出发链接操作
target_link_libraries(write_pcd ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})

之后就 cd   到文件下

mkdir  build

cd build

cmake ..

make

生成可执行文件后执行的结果:

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" alt="" />

(2)学习如何从PCD文件读取点云数据

读取PCD点云数据只需在工程文件下建立新的文件write_pcd.cpp

write.cpp:

#include <iostream>              //标准C++库中的输入输出的头文件
#include <pcl/io/pcd_io.h> //PCD读写类相关的头文件
#include <pcl/point_types.h> //PCL中支持的点类型的头文件 int
main (int argc, char** argv)
{
//创建一个PointCloud<pcl::PointXYZ> boost共享指针并进行实例化
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>); //打开点云文件
if (pcl::io::loadPCDFile<pcl::PointXYZ> ("test_pcd.pcd", *cloud) == -)
{
PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
return (-);
}
//默认就是而二进制块读取转换为模块化的PointCLoud格式里pcl::PointXYZ作为点类型 然后打印出来
std::cout << "Loaded "
<< cloud->width * cloud->height
<< " data points from test_pcd.pcd with the following fields: "
<< std::endl;
for (size_t i = ; i < cloud->points.size (); ++i)
std::cout << " " << cloud->points[i].x
<< " " << cloud->points[i].y
<< " " << cloud->points[i].z << std::endl; return ();
}

那么要编译此文件只需在CMakeLists.txt最下面添加两行代码

add_executable(write_pcd write_pcd.cpp)
add_executable(read_pcd read_pcd.cpp)
target_link_libraries(write_pcd ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})
target_link_libraries(read_pcd ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})

编译后执行的结果如下

aaarticlea/png;base64,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" alt="" />

如果想看PCD文件的数据,可以找到test_pcd.pcd后缀名改为.txt即可打开如下所示:

(仔细查看文件头 的顺序也就是之前介绍的文件头顺序)

# .PCD v0. - Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE
TYPE F F F
COUNT
WIDTH
HEIGHT
VIEWPOINT
POINTS
DATA ascii
0.35222197 -0.15188313 -0.10639524
-0.3974061 -0.47310591 0.29260206
-0.73189831 0.66710472 0.44130373
-0.73476553 0.85458088 -0.036173344
-0.46070004 -0.2774682 -0.91676188

总结

pcl::PointCloud<pcl::PointXYZ> cloud ;  //写入点云数据的声明,就是三个float类型的数据,

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);这是声明的数据类型,用来存储我们打开的点云数据格式,是共享指针类型

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从PCD文件写入和读取点云数据

未完待续******************************8