PCL test code

CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(pcl-test)
find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcl-test main.cpp)
target_link_libraries(pcl-test ${PCL_LIBRARIES})

SET(COMPILE_FLAGS "-std=c++11")
add_definitions(${COMPILE_FLAGS})

main.cpp

#include <iostream>

int main() {
    std::cout << "hello, world!" << std::endl;
    return (0);
}

print_pcd_info.cpp

//PCD 헤더 정보 출력
#include <iostream>
#include <fstream>
#include <string>
#include <iomanip>
#include <vector>
 
struct PointXYZ
{
	double x, y, z;
};
 
/*
  Author:chd_ayj
  Date:2018-6-8
  Description: read .PCD file
*/
 
//读取pcd点云文件
void readPCDfile(const std::string finname, std::vector<PointXYZ>& points, const std::string foutname)
{
	std::ifstream fin(finname);
	if (fin.bad()){
		std::cout << "打开文件失败！" << std::endl;
		return;
	}
 
	char s[11][1024]; //存储Header
	int Points_Num; //点数量
	std::string data_columns_type; //列数: X Y Z
	std::string data_type; //点坐标存储方式(ascii或者binary)
 
	std::vector<PointXYZ> cloud;
	//连续读取Header行数   
	std::cout << "start to read file header....." << std::endl;
	std::cout << "file header: " << std::endl;
	for (int i = 0; i < 11; ++i){
		fin.getline(s[i], 1024);
		//std::cout << "第" << i + 1 << "行：" << s[i] << std::endl;
		std::cout << s[i] << std::endl;
 
		//FIELDS x y z rgb
		if (i == 2){
			std::string s2 = s[2];
			size_t pos = s2.find("FIELDS");
			size_t size = s2.size();
			data_columns_type = s2.substr(pos + 7, size);
			//std::cout << "data_columns_type:" << data_columns_type << std::endl;
		}
 
		//POINTS xxx
		if (i == 9){
			std::string s9 = s[9], Points_Str;
			size_t pos = s9.find("POINTS");
			size_t size = s9.size();
			Points_Str = s9.substr(pos + 7, size);
			Points_Num = atoi(Points_Str.c_str());
			//std::cout << "Points:" << std::Points_Num << endl;
		}
 
		//DATA ascii或者binary
		if (i == 10){
			std::string s10 = s[10], DATA_SIZE;
			size_t pos = s10.find("DATA");
			size_t size = s10.size();
			data_type = s10.substr(pos + 5, size);
			//std::cout << "data_type:" << data_type << std::endl;
		}
	}
	std::cout << std::endl;
	std::cout << "start to read point ....." << std::endl;
	PointXYZ p;
	if ((data_columns_type == "x y z") && (data_type == "ascii")){
		//读取点坐标记录
		while (!fin.eof()){
			fin >> p.x >> p.y >> p.z;
			if (fin.peek() == EOF){
				break;
			}
			cloud.push_back(p);
		}
	}else{
		std::cout << "data_type = binary, read failed!" << std::endl;
    }
    ////////////////////////////////////////////////////////////
	//点坐标输出txt文本
	std::cout << "start to write point to txt....." << std::endl;
	std::ofstream out(foutname);
	for (size_t i = 0; i < points.size(); ++i)
	{
		out << std::setiosflags(std::ios::fixed) << std::setprecision(7)
			<< points.at(i).x << " "
			<< points.at(i).y << " "
			<< points.at(i).z << std::endl;
	}
	std::cout << "write point to txt finished!" << std::endl;
}
 
int main()
{
	std::string finname = "table_scene_lms400.pcd";
	std::string foutame = "table_scene_lms400.txt";
	std::vector<PointXYZ> points;
	readPCDfile(finname, points, foutame);
 
	system("pause");
	return 0;
}

read point cloud txt file and display.py

 
#-*-coding:utf-8-*-
import numpy as np 
import matplotlib.pyplot as plt 
from mpl_toolkits.mplot3d import Axes3D
 
def readXYZfile(filename, Separator):
  data = [[], [], []]
  f = open(filename,'r') 
  line = f.readline() 
  num = 0
  while line:  #按行读入点云
     c,d,e = line.split(Separator)
     data[0].append(c)  #X坐标
     data[1].append(d)  #Y坐标
     data[2].append(e)  #Z坐标
     num = num + 1
     line = f.readline()
  f.close() 
 
  #string型转float型 
  x = [ float(data[0] ) for data[0] in data[0] ] 
  z = [ float(data[1] ) for data[1] in data[1] ] 
  y = [ float(data[2] ) for data[2] in data[2] ]
  print("读入点的个数为:{}个。".format(num))
  point = [x,y,z]
  return point
 
#三维离散点图显示点云
def displayPoint(data,title):
    #解决中文显示问题
    plt.rcParams['font.sans-serif']=['SimHei']
    plt.rcParams['axes.unicode_minus'] = False
 
    #点数量太多不予显示
    while len(data[0]) > 20000:
    	print("点太多了！")
    	exit()
 
    #散点图参数设置
    fig=plt.figure() 
    ax=Axes3D(fig) 
    ax.set_title(title) 
    ax.scatter3D(data[0], data[1],data[2], c = 'r', marker = '.') 
    ax.set_xlabel('x') 
    ax.set_ylabel('y') 
    ax.set_zlabel('z') 
    plt.show()
 
if __name__ == "__main__":
	data = readXYZfile("demo.txt",',')
	displayPoint(data, "兔子")
--------------------- 
作者：chd_ayj 
来源：CSDN 
原文：https://blog.csdn.net/qq_22170875/article/details/84728384 
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