1.读写点云文件

1.PCD文件读写
 

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>



void savePcdFun()//save pcdfile
{
	pcl::PointCloud<pcl::PointXYZ> cloud;
	cloud.width = 5;
	cloud.height = 1;
	cloud.is_dense = false;
	cloud.points.resize(cloud.width * cloud.height);
	
	for (int i = 0; i < cloud.points.size(); ++i)
	{
		cloud.points[i].x = 1024 * rand() / (RAND_MAX + 0.1f);
		cloud.points[i].y = 1024 * rand() / (RAND_MAX + 0.1f);
		cloud.points[i].z = 1024 * rand() / (RAND_MAX + 0.1f);
	}

	pcl::io::savePCDFile("do1.pcd", cloud);
	return;


}


void loadPcdFun()//load pcdfile
{
	pcl::PointCloud<pcl::PointXYZ> cloud;
	if (pcl::io::loadPCDFile("ajaccio_2 - Cloud.pcd", cloud) ==-1)
	{
		PCL_ERROR("load pcdfile failed!");
	}
	
	for (int i = 0; i < cloud.points.size(); ++i)
	{
		std::cout << cloud.points[i].x << " " << cloud.points[i].y
			<< " " << cloud.points[i].z<< std::endl;
	}
	return;
	
}



}

2.点云字段或数据连接：

void concateFun()//concatenate filed
{
	pcl::PointCloud<pcl::PointXYZ> cloud_a;
	if (pcl::io::loadPCDFile("do1.pcd", cloud_a) == -1)
	{
		PCL_ERROR("load pcdfile failed !");
	}
	pcl::PointCloud<pcl::Normal>cloud_b_normal;
	cloud_b_normal.width = 5;
	cloud_b_normal.height = 1;
	cloud_b_normal.is_dense = false;
	cloud_b_normal.points.resize(cloud_b_normal.width * cloud_b_normal.height);

	for (int i = 0; i < cloud_b_normal.points.size(); ++i)
	{
		cloud_b_normal.points[i].normal[0]=1024*rand()/(RAND_MAX+1.0f);
		cloud_b_normal.points[i].normal[1]= 1024 * rand() / (RAND_MAX + 1.0f);
		cloud_b_normal.points[i].normal[2]= 1024 * rand() / (RAND_MAX + 1.0f);

	}
	pcl::PointCloud<pcl::PointNormal>cloud_c;
	pcl::concatenateFields(cloud_a, cloud_b_normal, cloud_c);
	for (int j = 0; j < cloud_c.points.size(); ++j)
	{
		std::cout << cloud_c.points[j].x << " " << cloud_c.points[j].y
			<< " " << cloud_c.points[j].z << " " << cloud_c.points[j].normal[0]
			<< " " << cloud_c.points[j].normal[1] << " " << cloud_c.points[j].normal[2] <<
			std::endl;
	}

3.基于OpenNI接口的点云数据获取

#pragma
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
#include<pcl/io/openni2_grabber.h>
#include<pcl/common/time.h>
#include<pcl/visualization/cloud_viewer.h>

//读取深度信息 实时显示3d点云
class SimpleOpenNIProcessor
{
public:
	pcl::visualization::CloudViewer viewer;

	//construct a cloud viewer,with a window name
	SimpleOpenNIProcessor() :viewer("pcl openni viewer")
	{

	}
	//定义回调函数cloub_cb_,获取到数据时对数据进行处理
	void cloud_cb_(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& cloud)
	{
		if (!viewer.wasStopped())
		{
			viewer.showCloud(cloud);
		}
	}

	void run()
	{
		//create a new grabber for OpenNI Devices
		pcl::Grabber* m_interface = new pcl::io::OpenNI2Grabber();

		//定义回调函数
		boost::function<void(pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
			boost::bind(&SimpleOpenNIProcessor::cloud_cb_, this, _1);

		//注册回调函数
		boost::signals2::connection c = m_interface->registerCallback(f);

		//start receive cloud 
		m_interface->start();

		while (!viewer.wasStopped())
		{
			boost::this_thread::sleep(boost::posix_time::seconds(1));
		}

		//stop data aquisition
		m_interface->stop();

	}
};

int main()
{
	SimpleOpenNIProcessor myViewer;
    myViewer.run();
    return 0;
}