pcl1.8.0+QT5.7.0+vs2013 win7 x64环境配置
//读取文本型和二进制型点云数据 void onOpen() { //打开文件 QString fileName = QFileDialog::getOpenFileName(this, tr("Open PointCloud"), ".", tr("Open PCD files(*.pcd);;Open WRL files(*.wrl)")); //filename类型转换 std::string file_name = fileName.toStdString(); //获取文件名称以及扩展名 vector<string> tokens; boost::char_separator<char> sep("."); boost::tokenizer<boost::char_separator<char> > tok(file_name, sep); tokens.clear(); std::copy(tok.begin(), tok.end(), std::back_inserter(tokens)); if (!fileName.isEmpty()) { //若是其他类型 if (tokens[1] != "pcd") { //查找特定位置（所需点坐标）l为所在行数；l-35为点云个数 string fout_name = tokens[0] + ".pcd"; int linenum = 0; int l; ifstream in(file_name); string line; string s; int i = 0; string key = "texCoord DEF texcoord0 TextureCoordinate"; while (getline(in, line)) { if (line.find(key) != string::npos) { // cout << linenum << " "; l = linenum; } linenum++; } //写入 ofstream outfile(fout_name, ios::out | ios::trunc); outfile << "# .PCD v.5 - Point Cloud Data file format" << endl; outfile << "VERSION .5" << endl; outfile << "FIELDS x y z" << endl; outfile << "SIZE 4 4 4" << endl; outfile << "TYPE F F F" << endl; outfile << "COUNT 1 1 1" << endl; outfile << "WIDTH " << l - 35 << endl; outfile << "HEIGHT 1" << endl; outfile << "POINTS " << l - 35 << endl; outfile << "DATA ascii" << endl; //添加点 ifstream inFile; inFile.open(file_name); while (getline(inFile, s, '\n')) { if (i > 32 && i < l - 2) outfile << s << endl; i++; } inFile.close(); outfile.close(); //显示 pcl::PCLPointCloud2 cloud2; //pcl::PointCloud<Eigen::MatrixXf> cloud2; Eigen::Vector4f origin; Eigen::Quaternionf orientation; int pcd_version; int data_type; unsigned int data_idx; int offset = 0; pcl::PCDReader rd; rd.readHeader(fout_name, cloud2, origin, orientation, pcd_version, data_type, data_idx); if (data_type == 0) { pcl::io::loadPCDFile(fout_name, *cloud); } else if (data_type == 2) { pcl::PCDReader reader; reader.read<pcl::PointXYZ>(fout_name, *cloud); } viewer->updatePointCloud(cloud, "cloud"); viewer->resetCamera(); ui.qvtkWidget->update(); } else { //sensor_msgs::PointCloud2 cloud2; pcl::PCLPointCloud2 cloud2; //pcl::PointCloud<Eigen::MatrixXf> cloud2; Eigen::Vector4f origin; Eigen::Quaternionf orientation; int pcd_version; int data_type; unsigned int data_idx; int offset = 0; pcl::PCDReader rd; rd.readHeader(file_name, cloud2, origin, orientation, pcd_version, data_type, data_idx); if (data_type == 0) { pcl::io::loadPCDFile(fileName.toStdString(), *cloud); } else if (data_type == 2) { pcl::PCDReader reader; reader.read<pcl::PointXYZ>(fileName.toStdString(), *cloud); } viewer->updatePointCloud(cloud, "cloud"); viewer->resetCamera(); ui.qvtkWidget->update(); } } } 运行结果
