通过fromPCLPointCloud2将PointCloud<RGB.>,然后通过savePNGFile保存文件。
代码如下:
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/io/png_io.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.png\n", argv[0]);
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud) < 0)
return (false);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
void
saveImage (const std::string &filename, const PointCloud<RGB> &image)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
io::savePNGFile (filename, image, "rgb");
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", image.width * image.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_error ("This tool is deprecated, please use \"pcl_pcd2png\" instead!\n");
print_info ("Convert the RGB information of an organized PCD file to a PNG image. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse the command line arguments for .pcd files
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (pcd_file_indices.size () != 1)
{
print_error ("Need one input PCD file and one output PNG file.\n");
return (-1);
}
std::vector<int> png_file_indices = parse_file_extension_argument (argc, argv, ".png");
if (png_file_indices.size () != 1)
{
print_error ("Need one input PCD file and one output PNG file.\n");
return (-1);
}
// Load the first file
pcl::PCLPointCloud2 cloud;
if (!loadCloud (argv[pcd_file_indices[0]], cloud))
return (-1);
PointCloud<RGB> image;
fromPCLPointCloud2 (cloud, image);
// Check if the cloud is organized
if (!image.isOrganized ())
{
PCL_ERROR ("Input cloud is not organized.\n");
return (-1);
}
// Save cloud
saveImage (argv[png_file_indices[0]], image);
return (0);
}
来源:PCL官方示例