创建点云文件、加载点云文件

PCL（point cloud library）系列笔记：http://blog.csdn.net/chentravelling/article/category/2876349

//先上代码：

bool saveThePointCloud(){ pcl::PointCloud<pcl::PointXYZ> Cloud;      //定义点云对象，类型PointXYZ    // 创建点云Cloud.width=30;Cloud.height=1;Cloud.is_dense=false;Cloud.points.resize(Cloud.width*Cloud.height);srand(unsigned(int(NULL)));for(size_t i=0;i<Cloud.points.size();++i){//RAND_MAX = 32767if(i<10){Cloud.points[i].x = 1024*rand()/(RAND_MAX+1.0f);Cloud.points[i].y = 0.0f;Cloud.points[i].z = 0.0f;}else if(i<20){Cloud.points[i].x = 0.0f;Cloud.points[i].y = 1024*rand()/(RAND_MAX+1.0f);Cloud.points[i].z = 0.0f;}else{Cloud.points[i].x = 0.0f;Cloud.points[i].y = 0.0f;Cloud.points[i].z = 1024*rand()/(RAND_MAX+1.0f);}}  // pcl::io::savePCDFile("pointCloudValueFile.pcd",Cloud);  pcl::io::savePCDFileASCII("pointCloudFile.pcd",Cloud);//这两种save的结果貌似是一样的。  return true;}

然后在调用此函数即可。

完整程序：

#include <pcl/visualization/cloud_viewer.h>#include <iostream>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>//int user_data;//Initialize the viewer including the backgroundcolor,coordinate axis,and others.void viewerOneOff (pcl::visualization::PCLVisualizer& viewer){//set the backgroundcolor:R,G,B     viewer.setBackgroundColor (1.0, 1.0, 1.0);//背景为白色  /*  pcl::PointXYZ o;    o.x = 0;    o.y = 0;    o.z = 0;    viewer.addSphere (o, 5, "sphere",0);*///viewer.addLine(o,"line",0);    /*std::cout << "i only run once" << std::endl;*/}//void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)//{//    static unsigned count = 0;//    std::stringstream ss;//    ss << "Once per viewer loop: " << count++;//    viewer.removeShape ("text", 0);//    viewer.addText (ss.str(), 200, 300, "text", 0);////    //FIXME: possible race condition here://    user_data++;//}//Accomplish loading a PCDFile,creating a viewer,and show the cloud at the viewer.void showTheCloud(){pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);//load     pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);     pcl::visualization::CloudViewer viewer("Cloud Viewer");    //blocks until the cloud is actually rendered    viewer.showCloud(cloud);    //use the following functions to get access to the underlying more advanced/powerful    //PCLVisualizer    //This will only get called once    viewer.runOnVisualizationThreadOnce (viewerOneOff);    //This will get called once per visualization iteration     //viewer.runOnVisualizationThread (viewerPsycho);    while (!viewer.wasStopped ())    {        //you can also do cool processing here        //FIXME: Note that this is running in a separate thread from viewerPsycho        //and you should guard against race conditions yourself...        //user_data++;    }}//Create a point-cloud object,and generate a PCD File to save the point cloud object.bool saveThePointCloud(){ pcl::PointCloud<pcl::PointXYZ> Cloud;      //定义点云对象    // 创建点云Cloud.width=30;Cloud.height=1;Cloud.is_dense=false;Cloud.points.resize(Cloud.width*Cloud.height);srand(unsigned(int(NULL)));for(size_t i=0;i<Cloud.points.size();++i){//RAND_MAX = 32767if(i<10){Cloud.points[i].x = 1024*rand()/(RAND_MAX+1.0f);Cloud.points[i].y = 0.0f;Cloud.points[i].z = 0.0f;}else if(i<20){Cloud.points[i].x = 0.0f;Cloud.points[i].y = 1024*rand()/(RAND_MAX+1.0f);Cloud.points[i].z = 0.0f;}else{Cloud.points[i].x = 0.0f;Cloud.points[i].y = 0.0f;Cloud.points[i].z = 1024*rand()/(RAND_MAX+1.0f);}}   pcl::io::savePCDFile("pointCloudValueFile.pcd",Cloud);  pcl::io::savePCDFileASCII("pointCloudFile.pcd",Cloud);  return true;}int main (){if(saveThePointCloud()){showTheCloud();}else{std::cout<<"Failed"<<endl;}    return 0;}

效果图：

这样，在工程目录下会多一个pointCloudFile.pcd文件。用记事本打开就可以看到数据。【PCD格式说明请阅读本人学习笔记】

至于命令窗口显示的Failed to find match for failed ‘rgba‘，是因为PCD文件一般的格式中是：

FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1

而我们获得的pcd文件里并没有第四列数据。初步估计是因为生成点云时，我们并没有给每一个point设置rgb参数。