点云格式转换 pcd转ply，pcd转laspcl 使用1.8.1

#include <pcl/io/pcd_io.h> #include <pcl/io/ply_io.h> #include<pcl/PCLPointCloud2.h> #include<iostream> #include<string> #include <pcl/io/vtk_lib_io.h> #include <pcl/io/vtk_io.h> #include "map_displayer.h" #include <lasreaditem.hpp> #include <lasreader_las.hpp> #include <laswriter_las.hpp> using namespace pcl; using namespace pcl; using namespace pcl::io; using namespace std; using namespace fusionpos; #pragma comment(lib, "User32.lib") #pragma comment(lib, "gdi32.lib") class A { public: A() : mapPointCloud(new pcl::PointCloud<PointXYZI>) { clock_t start = clock(); pcl::io::loadPCDFile<PointXYZI>("C:\\Users\\y00444723\\Desktop\\pcd\\guomao.pcd", *mapPointCloud); clock_t endOne = clock(); cout << "Load time:" << (double)(endOne - start) / CLOCKS_PER_SEC << "s" << endl; }; ~A() { clock_t start1 = clock(); pcl::io::savePCDFileBinary("C:\\Users\\y00444723\\Desktop\\pcd\\guomao_save.pcd", *mapPointCloud); clock_t endOne1 = clock(); cout << "Save time:" << (double)(endOne1 - start1) / CLOCKS_PER_SEC << "s" << endl; }; public: PointCloudPtr mapPointCloud; }; int PCDtoPLYconvertor(string & input_filename, string& output_filename) { clock_t start, end; pcl::PCLPointCloud2 cloud; start = clock(); if (loadPCDFile(input_filename, cloud) < 0) { cout << "Error: cannot load the PCD file!!!" << endl; return -1; } end = clock(); cout << "loadPCDFile load time " << end - start << endl; PLYWriter writer; start = clock(); writer.write(output_filename, cloud, Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), true, true); end = clock(); cout <<"pcd2ply PLYWriter time " << end - start << endl; return 0; } int pcd2Las(string& pcdFilePath, string& lasFilePath) { pcl::PointCloud<pcl::PointXYZI>::Ptr pcdCloud(new pcl::PointCloud<pcl::PointXYZI>); pcl::PCDReader pcdreader; pcdreader.read(pcdFilePath.c_str(), *pcdCloud); if (lasFilePath.empty() || lasFilePath.find_last_of(".") < 0) { //printf(" Error in lasread: input file is valid."); return -1; } int pos = lasFilePath.find_last_of("."); std::string ext = lasFilePath.substr(pos); if (ext != ".las") { //printf(" Error in laswrite: %s is not *.las file.\n", output_lasfile.c_str()); return -1; } LASwriteOpener laswriteopener; laswriteopener.set_file_name(lasFilePath.c_str()); if (!laswriteopener.active()) { //printf(" Error in \"laswrite\": output lasfile is not specified.\n"); return -1; } LASheader lasheader; lasheader.x_scale_factor = 1.0; lasheader.y_scale_factor = 1.0; lasheader.z_scale_factor = 1.0; lasheader.x_offset = 0.0; lasheader.y_offset = 0.0; lasheader.z_offset = 0.0; lasheader.point_data_format = 1; lasheader.point_data_record_length = 28; LASpoint laspoint; laspoint.init(&lasheader, lasheader.point_data_format, lasheader.point_data_record_length, 0); LASwriter* laswriter = NULL; laswriter = laswriteopener.open(&lasheader); if (laswriter == 0) { printf(" Error in \"laswrite\": could not open laswriter.\n"); return 0; } cout << "point num: " << pcdCloud->points.size() << endl; // write points if (pcdCloud->points.size() > 0) { for (size_t i = 0; i < pcdCloud->points.size(); ++i) { double x, y, z; unsigned short intensity; x = (pcdCloud->points[i].x - lasheader.x_offset) * lasheader.x_scale_factor; y = (pcdCloud->points[i].y - lasheader.y_offset) * lasheader.y_scale_factor; z = (pcdCloud->points[i].z - lasheader.z_offset) * lasheader.z_scale_factor; intensity = pcdCloud->points[i].intensity; // populate the point laspoint.set_x(x); laspoint.set_y(y); laspoint.set_z(z); laspoint.set_intensity(intensity); /*laspoint.set_intensity((U16)i); laspoint.set_gps_time(0.0006*i);*/ // write the point laswriter->write_point(&laspoint); // add it to the inventory laswriter->update_inventory(&laspoint); } // update the header laswriter->update_header(&lasheader, TRUE); laswriter->close(); delete laswriter; laswriter = NULL; return 1; } else { printf(" Error in \"laswrite\": output pointset is empty.\n"); return 0; } return 0; } int LoadPLY(const string & plyPath) { clock_t start, end; start = clock(); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); if (pcl::io::loadPLYFile<pcl::PointXYZ>(plyPath.c_str(), *cloud) == -1) //* load the file { PCL_ERROR("Couldn't read file test_pcd.pcd \n"); return (-1); } end = clock(); cout << "LoadPLY time: " << end - start << endl; } int LoadLas(const string& lasPath) { //打开las文件 LASreadOpener lasreadopener; clock_t start, end; start = clock(); lasreadopener.set_file_name(lasPath.c_str()); LASreader* lasreader = lasreadopener.open(); end = clock(); cout << "LoadLas open time: " << end - start << endl; int loop_time = 0; while (lasreader->read_point()) { //std::cout << lasreader->point.get_x() << " " // << lasreader->point.get_y() << " " // << lasreader->point.get_z() << std::endl; loop_time++; } start = clock(); cout << "las read all_point time: " << start - end << endl; lasreader->close(); delete lasreader; return 1; } int main() { //MapDisplayer mapDisplayer; //Eigen::Vector3d origLLH(116.483461736179, 39.944678684042, 28.2172); //mapDisplayer.SetOrigLLH(origLLH); //std::string mapPCDFilePath = "C:\\Users\\y00444723\\Desktop\\pcd\\guomao.pcd"; // "/home/cly/guomaopart2pcd/guomao.pcd"; //mapDisplayer.LoadMapCloud(mapPCDFilePath); //// mapDisplayer.LoadOptimizedPos(); //Eigen::Vector3d curLLH(116.483461736179, 39.944678684042, 28.2172); //double radius = 10; //mapDisplayer.Display(curLLH, radius); string input_filename = "C:\\Users\\y00444723\\Desktop\\pcd\\guomao.pcd"; string output_filename = "C:\\Users\\y00444723\\Desktop\\pcd\\guomao.ply"; string lasFilePath = "C:\\Users\\y00444723\\Desktop\\pcd\\guomao.las"; clock_t start, end; start = clock(); int result = pcd2Las(input_filename, lasFilePath); end = clock(); cout << "pcd2Las write time " << end - start << endl; int A = LoadLas(lasFilePath); A = LoadPLY(output_filename); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); start = clock(); pcl::PointCloud<pcl::PointXYZ>::Ptr pcdCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PCDReader pcdreader; pcdreader.read(input_filename.c_str(), *pcdCloud); end = clock(); cout <<"PCDReader load time " << end - start << endl; PCDtoPLYconvertor(input_filename, output_filename); pcl::PolygonMesh mesh; start = clock();; if (pcl::io::loadPolygonFile("C:\\Users\\y00444723\\Desktop\\pcd\\guomao.ply", mesh)) { PCL_ERROR("Couldnot read file.\n"); system("pause"); return(-1); } end = clock(); cout << "loadPolygonFile load mesh time " << end - start << endl; return 0; }