使用PCL批量显示PCD点云数据流

B站|公众号：啥都会一点的研究生

前言

当把某些点云文件转换成pcd形式后，一个个单帧查看实在麻烦，网上基本没啥批量处理教程，于是自己写了个批量查看代码

代码

• 首先定义流文件读取函数，将某路径下的所有文件名读入并排序

std::vector<boost::filesystem::path> streamPcd(std::string dataPath)
{
    
    std::vector<boost::filesystem::path> paths(boost::filesystem::directory_iterator{
    dataPath}, boost::filesystem::directory_iterator{
    });
    // sort files in accending order
    sort(paths.begin(), paths.end());

    return paths;
}

• 定义点云数据加载与保存函数；若一帧帧加载PCD文件并显示，点云数量大时将造成卡顿，所以先预加载

std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> loadpt(std::vector<boost::filesystem::path> stream)
{
    
    auto streamIterator = stream.begin();
    std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> array;
    int i = 0;
    while(streamIterator != stream.end()){
    
        pcl::PointCloud<pcl::PointXYZI>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZI>);
        std::string ss((*streamIterator).string());
        std::cout<< ss << std::endl;
        pcl::io::loadPCDFile(ss, *cloud1);
        array.push_back(cloud1);
        streamIterator++;
        i++;
// if (i==1000){
    
// break;
// }
    }
    return array;
}

• 需要说明的是如果仅想查看一部分pcd流，因为数据量大时加载较慢，可以通过更改if判断拿捏
• 完整代码

#include <iostream>
#include <vector>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <iostream>
#include <fstream>
 
std::vector<boost::filesystem::path> streamPcd(std::string dataPath)
{
    
    std::vector<boost::filesystem::path> paths(boost::filesystem::directory_iterator{
    dataPath}, boost::filesystem::directory_iterator{
    });
    // sort files in accending order so playback is chronological
    sort(paths.begin(), paths.end());

    return paths;
}

std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> loadpt(std::vector<boost::filesystem::path> stream)
{
    
    auto streamIterator = stream.begin();
    std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> array;
    int i = 0;
    while(streamIterator != stream.end()){
    
        pcl::PointCloud<pcl::PointXYZI>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZI>);
        std::string ss((*streamIterator).string());
        std::cout<< ss << std::endl;
        pcl::io::loadPCDFile(ss, *cloud1);
        array.push_back(cloud1);
        streamIterator++;
        i++;
// if (i==1000){
    
// break;
// }
    }
    return array;
}

int main()
{
    
    std::string path = "/home/pcd/";// 此处改成你的pcd文件路径
    std::vector<boost::filesystem::path> stream = streamPcd(path);
    std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> array = loadpt(stream);
    int i = 0;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    while (!viewer->wasStopped()) {
    
        viewer->removePointCloud("sample cloud");
        viewer->addPointCloud<pcl::PointXYZI>(array[i], "sample cloud");
        viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
        i = (i+1) % 1000;
        viewer->spinOnce (100);
	}
    return 0;
}

编译

cmake_minimum_required(VERSION 3.5)
project(main)
 
find_package(PCL 1.2 REQUIRED)
find_package(Boost COMPONENTS program_options REQUIRED )
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(${PROJECT_NAME} main.cpp)
 
target_link_libraries (${PROJECT_NAME} ${PCL_LIBRARIES} ${Boost_LIBRARIES})