PCL（point cloud library）系列笔记：
//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>);//loadpcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);pcl::visualization::CloudViewer viewer("Cloud Viewer");//blocks until the cloud is actually renderedviewer.showCloud(cloud);//use the following functions to get access to the underlying more advanced/powerful//PCLVisualizer//This will only get called onceviewer.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 rgbSIZE 4 4 4 4TYPE F F F FCOUNT 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。
有希望在的地方，痛苦也成欢乐
