Using PCL to batch display PCD point cloud data flow

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Preface

When converting some point cloud files into pcd After form , It's really troublesome to check single frames , There are basically no batch processing tutorials online , So I wrote a batch check code

Code

• First, define the stream file reading function , Read in and sort all file names under a certain path

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;
}

• Define point cloud data loading and saving functions ; If one frame is loaded PCD File and display , A large number of point clouds will cause a jam , So preload first

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;
}

• It should be noted that if you only want to view a part pcd flow , Because the load is slow when the amount of data is large , You can change it if Judge carefully
• Complete code

#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/";//  Change this to yours pcd File path 
    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;
}

compile

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})