PCL配置与下载参考:https://blog.csdn.net/stq054188/article/details/106408641
① ply转pcd
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/io/vtk_io.h>
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/conversions.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
int main()
{
pcl::PCLPointCloud2 point_cloud2;
pcl::PLYReader reader;
reader.read("reconstructed_2_1.ply", point_cloud2);
pcl::PointCloud<pcl::PointXYZ> point_cloud;
pcl::fromPCLPointCloud2(point_cloud2, point_cloud);
pcl::PCDWriter writer;
writer.writeASCII("reconstructed_2_1.pcd", point_cloud);
cout << "Done!" << endl;
return 0;
}
② pcd转ply
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include<pcl/PCLPointCloud2.h>
#include<iostream>
#include<string>
using namespace pcl;
using namespace pcl::io;
using namespace std;
int PCDtoPLYconvertor(string & input_filename, string& output_filename)
{
pcl::PCLPointCloud2 cloud;
if (loadPCDFile(input_filename, cloud) < 0)
{
cout << "Error: cannot load the PCD file!!!" << endl;
return -1;
}
PLYWriter writer;
writer.write(output_filename, cloud, Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), true, true);
return 0;
}
int main()
{
string input_filename = "./reconstructed_1_reconstructed_2_1.pcd";
string output_filename = "./reconstructed_1_reconstructed_2_1.ply";
PCDtoPLYconvertor(input_filename, output_filename);
cout << "Done!" << endl;
return 0;
}
③ 点云合并
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
using namespace std; // 可以加入 std 的命名空间
int main2(int argc, char** argv)
{
string ReviseName;
cout << "是否已经修改输出文件的名称和K值?请输入Y或N。" << endl;
cin >> ReviseName;
if (ReviseName != "Y")
{
return (-1);//跳出整个程序
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // 总点
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>); // 点云1
pcl::PCDReader reader;
reader.read<pcl::PointXYZ>("reconstructed_1.pcd", *cloud1);//读取pcd文件,用指针传递给cloud。
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2(new pcl::PointCloud<pcl::PointXYZ>); // 点云2
reader.read<pcl::PointXYZ>("reconstructed_2_1.pcd", *cloud2);//读取pcd文件,用指针传递给cloud。
//拷贝点云数据
*cloud = *cloud1;
*cloud += *cloud2;
//输出时所用离群点的名字
string name_out1 = "reconstructed_1_"; //因为string变量自身就带着隐含的双引号了,所以不用特意加双引号
string name_out2 = "reconstructed_2_1.pcd";
string name_out = name_out1; name_out += name_out2;
cout << name_out << endl;
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ>(name_out, *cloud, false);//滤波后内点(主体点)
cout << "点云合并完成!" << endl;
return(0);
}