PCL常用代码块

钢铁编织者·代码巫师

已于 2025-01-09 17:18:47 修改

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文章标签： c++

于 2025-01-06 11:24:46 首次发布

本文链接：https://blog.youkuaiyun.com/code_yyds/article/details/144959570

1. PCD文件加载

#第一种
pcl::PCDReader reader;
reader.read<pcl::PointXYZ> ("pcdFileName.pcd", *cloud);

#第二种
pcl::io::loadPCDFile("pcdFileName.pcd", *cloud);


#二进制适合用于传输存取
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);

  pcl::PCLPointCloud2 cloud_blob;

  pcl::io::loadPCDFile ("bun0.pcd", cloud_blob);

  pcl::fromPCLPointCloud2 (cloud_blob, *cloud);

2.点云可视化viewer

#第一种
    pcl::visualization::PCLVisualizer viewer("PCL Viewer");
    viewer.setBackgroundColor(0.0,0.0,0.5);
    viewer.addPointCloudNormals<pcl::PointXYZ, pcl::Normal>(cloud,normals);
    while(!viewer.wasStopped())
    {
        viewer.spinOnce();
    }

#第二种
void showPointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, const std::string& tileName)
{
    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer);
    viewer->setBackgroundColor(0,0,0);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color_handler(cloud,255,255,255);
    viewer->addPointCloud<pcl::PointXYZ> (cloud,color_handler,"sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "sample cloud");
    viewer->addCoordinateSystem(1.0);
    viewer->initCameraParameters();

    while(!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }
}

#第三种
      pcl::visualization::PCLPlotter plotter;
      plotter.addFeatureHistogram(*pfh_fe_ptr, 300); //设置的很坐标长度，该值越大，则显示的越细致
      plotter.plot();

3.点云处理

#把PointXYT 和 Normal数据合并在一起
  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);

  pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);