PCL 库学习一(基本点云类型、IO)

来自pcl点云入门到精通

#include <pcl/point_types.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
using namespace pcl;
    //curvature 曲率
    //intensity 强度
    //range 视点到采样点距离
    //vp_x,vp_y,vp_z:视点
    PointXY A;      //X,Y
    PointXYZ B;     //X,Y,Z
    PointXYZI C;    //X,Y,Z,intesity
    PointXYZRGBA D; //X,Y,Z,unint_32 rga
    PointXYZRGB E;  //X,Y,Z,float rgb
    PointXYZRGBL F; //X,Y,Z,float rgb,uint32_t label=255;
    Normal a;//X,Y,Z,float/normal x,float/normal y,float/normal z,float curvature;
    PointXYZRGBNormal G;//X,Y,Z,float/normal x,float/normal y,float/normal z;float curvature;float rgba;
    PointXYZINormal H;//X,Y,Z,float/normal x,float/normal y,float/normal z;float curvature;float intensity;
    PointWithRange I;//X,Y,Z,float range;
    PointWithViewpoint O;//X,Y,Z,vp_x,vp_y,vp_z

2. I/O操作

• 读取pcb文件

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::io::loadPCDFile<pcl::PointXYZ>("/home/n1/notes/pcl/IO/test_pcd.pcd",cloud)

• 保存pcb文件

 pcl::io::savePCDFileASCII("/home/n1/notes/pcl/IO/save_pcd.pcd",cloud1);

3. 自定义点云类型

#include <pcl/point_types.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <iostream>
//定义数据类型
struct VelodynePointXYZIRT{
    PCL_ADD_POINT4D;
    PCL_ADD_INTENSITY;
    uint16_t ring;
    float time;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
}EIGEN_ALIGN16;
//注册数据类型
POINT_CLOUD_REGISTER_POINT_STRUCT(
    VelodynePointXYZIRT,
    (float,x,x)
    (float,y,y)
    (float,z,z)
    (float,intensity,intensity)
    (uint16_t,ring,ring)
    (float,time,time)
)
using namespace std;
using namespace pcl;
int main(int argc,char** argv){
    PointCloud<VelodynePointXYZIRT> cloud;
    cloud.width=100;
    cloud.height=20;
    cloud.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);
    }
    cout<<"size:"<<cloud.size()<<endl;
    cout<<"data:";
     pcl::io::savePCDFileASCII("/home/n1/notes/pcl/mypcltype/save_pcd.pcd",cloud);
    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;
    }
    return 0;
}

4. PCL与sensor_msgs::PointCloud2转换

• sensor_msgs::PointCloud2转pcl数据

//currentCloudMsg：sensor_msgs::PointCloud2点云数据
//laserCloudIn： pcl点云数据
	pcl::moveFromROSMsg(currentCloudMsg,laserCloudIn);

• pcl转sensor_msgs::PointCloud2数据

//currentCloudMsg：sensor_msgs::PointCloud2点云数据
//laserCloudIn： pcl点云数据
 pcl::fromROSMsg(currentCloudMsg, laserCloudout);