PCL點云文件生成與讀取

提要

     PCL中創造了一種用于描述空間點集的文件  -  PCD.關于PCD的簡介，可以參考這里 - http://pointclouds.org/documentation/tutorials/pcd_file_format.php

今天要做的是最簡單的事情 - PCD文件的生產與讀取。

環境：Win7 64bit VS2010 PCL1.7

PCL編譯參考這里 - Window7下手動編譯最新版的PCL庫

PCD文件生成

     官網推薦的是用cmake來管理工程，在windows中，我們可以通過Cmakegui來生成VS2010的工程，然后導入。這樣就免去了在VS中各種添加lib，頭文件之苦了 ^^

     首先創建主程序 pcd_write.cpp ，隨便找個記事本寫一下就可以了，代碼如下：

#include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/visualization/cloud_viewer.h> using namespace std;   int main (int argc, char** argv) {   pcl::PointCloud<pcl::PointXYZ> cloud;   // Fill in the cloud data   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);   }    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;    getchar();   return (0); } 

cmake_minimum_required(VERSION 2.6 FATAL_ERROR) project(MY_GRAND_PROJECT) find_package(PCL 1.3 REQUIRED COMPONENTS common io) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable(pcd_write_test pcd_write.cpp) target_link_libraries(pcd_write_test ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})

如果報錯了，基本是你環境沒配置好，檢查一下該裝的東西是否都安裝好了，環境變量是否設置好。

成功時候在build文件夾下就生成了對應的vs2010工程了，直接雙擊打開 MY_GRAND_PROJECT.sln

導入后在cloud_view上 右擊->Set as StartUp Project,如下圖：

直接運行，效果如下：

工程目錄下就生成了一個 test_pcd.pcd 點云文件。

點云文件的讀取

套路和上面的一樣，貼一下代碼就好。

cloud_viewer.cpp

#include <pcl/visualization/cloud_viewer.h> #include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h>  int user_data;  void viewerOneOff (pcl::visualization::PCLVisualizer& viewer) {     viewer.setBackgroundColor (0.0, 0.0, 0.0);     pcl::PointXYZ o;     o.x = 1.0;     o.y = 0;     o.z = 0;     viewer.addSphere (o, 0.25, "sphere", 0);     std::cout << "i only run once" << std::endl; 	 }  void viewerPsycho (pcl::visualization::PCLVisualizer& viewer) {     static unsigned count = 0;     std::stringstream ss;     ss << "Once per viewer loop: " << count++;     viewer.removeShape ("text", 0);     viewer.addText (ss.str(), 200, 300, "text", 0);      //FIXME: possible race condition here:     user_data++; }  int main () {     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);     pcl::io::loadPCDFile ("bunny.pcd", *cloud);      pcl::visualization::CloudViewer viewer("Cloud Viewer");      //blocks until the cloud is actually rendered     viewer.showCloud(cloud);      //use the following functions to get access to the underlying more advanced/powerful     //PCLVisualizer      //This will only get called once     viewer.runOnVisualizationThreadOnce (viewerOneOff);      //This will get called once per visualization iteration     viewer.runOnVisualizationThread (viewerPsycho);     while (!viewer.wasStopped ())     {     //you can also do cool processing here     //FIXME: Note that this is running in a separate thread from viewerPsycho     //and you should guard against race conditions yourself...     user_data++;     }     return 0; } 

CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)  project(cloud_viewer)  find_package(PCL 1.2 REQUIRED)  include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS})  add_executable (cloud_viewer cloud_viewer.cpp) target_link_libraries (cloud_viewer ${PCL_LIBRARIES})

由于之前生成的pcd里面僅有一些離散的點，看的不是很明顯，加載一個Stanford bunny 的點云（PCL目錄下有）來看看。

參考

Using PCL in your own project - http://pointclouds.org/documentation/tutorials/using_pcl_pcl_config.php#using-pcl-pcl-config

讀取 pcd 檔並顯示三維影像 - http://coldnew.github.io/blog/2013/04/12_64cf9.html

The CloudViewer - http://pointclouds.org/documentation/tutorials/cloud_viewer.php#cloud-viewer