PCL-Cpp (70%)
PCL-Cpp에서는 점군 입출력을 위해서 템플릿 클래스나 구조체를 활용 할 수 있습니다. 자세한 내용은 [이곳]을 참고 하시면 됩니다.
// template
pcl::PointCloud<pcl::PointXYZ>
// struct
Pcl::PointXYZ
Pcl::PointXYZI
Pcl::PointXYZRGB
Pcl::PCLPointCloud2
1. 읽기
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
//READ #1
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ> ("tabletop.pcd", *cloud); //내부적으로 reader.read() 호출
//READ #2
//pcl::PointCloud<pcl::PointXYZ> cloud;
//pcl::io::loadPCDFile<pcl::PointXYZ>("tabletop.pcd", cloud) //내부적으로 reader.read() 호출
//READ #3
//pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
//pcl::PCDReader reader;
//reader.read<pcl::PointXYZ>("tabletop.pcd", cloud);
std::cout << "Loaded " << cloud->width * cloud->height << std::endl; //cloud_filtered->points.size()
return (0);
}
시각화 확인
$ pcl_viewer tabletop.pcd
2. 생성 & 쓰기
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); //SAVE #1
#pcl::PointCloud<pcl::PointXYZ> cloud; //SAVE #2
// Fill in the cloud data
cloud.width = 5;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.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);
}
//SAVE #1
pcl::io::savePCDFile<pcl::PointXYZ>("test_pcd.pcd", *cloud); //Default binary mode save
//SAVE #2
//내부적으로 writer.write 호출
//pcl::io::savePCDFile<pcl::PointXYZ>("test_pcd.pcd", cloud); //Default binary mode save
//pcl::io::savePCDFileASCII<pcl::PointXYZ>("test_pcd_ASCII.pcd", cloud); //ASCII mode
//pcl::io::savePCDFileBinary<pcl::PointXYZ>("test_pcd_Binary.pcd", cloud); //binary mode
//SAVE #3
//pcl::PCDWriter writer;
//writer.write<pcl::PointXYZ>("test_pcd.pcd", cloud); //Default binary mode save
//writer.writeASCII<pcl::PointXYZ>("test_pcd_ASCII.pcd", cloud); //ASCII mode
//writer.writeBinary<pcl::PointXYZ>("test_pcd_Binary.pcd", cloud); //binary mode
//options. writer.write("test.pcd", *cloud, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);
std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;
return (0);
}
3. 상호 변환
// Converting pcl::PCLPointCloud2 to pcl::PointCloud and reverse
#include <pcl/conversions.h>
pcl::PCLPointCloud2 point_cloud2;
pcl::PointCloud<pcl::PointXYZ> point_cloud;
pcl::fromPCLPointCloud2( point_cloud2, point_cloud);
pcl::toPCLPointCloud2(point_cloud, point_cloud2);