1. 基于pcl 和 liblas 库 las与pcd格式（rgb点）相互转换（win10 VS2013 X64环境）

  1 #include <liblas/liblas.hpp>
  2 #include <iomanip>
  3 #include <iostream>
  4 #include <sstream>
  5 #include <cmath>
  6 #include <pcl/point_cloud.h>
  7 #include <pcl/io/pcd_io.h>
  8 #include <pcl/point_types.h>
  9 #include <pcl/visualization/pcl_visualizer.h>
 10 
 11 //  实现Unshort转为Unchar类型
 12 //int Unshort2Unchar(uint16_t &green, uint8_t &g)
 13 //{
 14 //    unsigned short * word;
 15 //    word = &green;
 16 //    int size = WideCharToMultiByte(CP_ACP, 0, LPCWSTR(word), -1, NULL, 0, NULL, FALSE);
 17 //    char *AsciiBuff=new char[size];
 18 //    WideCharToMultiByte(CP_ACP, 0, LPCWSTR(word), -1, AsciiBuff, size, NULL, FALSE);
 19 //    g = *AsciiBuff;
 20 //
 21 //    delete[] AsciiBuff;
 22 //    AsciiBuff = NULL;
 23 //    return 0;
 24 //}
 25 
 26 void writePointCloudFromLas(const char* strInputLasName, const char* strOutPutPointCloudName)
 27 {
 28     //打开las文件
 29     std::ifstream ifs;
 30     ifs.open(strInputLasName, std::ios::in | std::ios::binary);
 31     if (!ifs.is_open())
 32     {
 33         std::cout << "无法打开.las" << std::endl;
 34         return;
 35     }
 36     liblas::ReaderFactory readerFactory;
 37     liblas::Reader reader = readerFactory.CreateWithStream(ifs);
 38     //写点云
 39     pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOutput(new pcl::PointCloud<pcl::PointXYZRGBA>());
 40     cloudOutput->clear();
 41     while (reader.ReadNextPoint())
 42     {
 43         double x = reader.GetPoint().GetX();
 44         double y = reader.GetPoint().GetY();
 45         double z = reader.GetPoint().GetZ();
 46         uint16_t red = reader.GetPoint().GetColor()[0];
 47         uint16_t green = reader.GetPoint().GetColor()[1];
 48         uint16_t blue = reader.GetPoint().GetColor()[2];
 49         
 50         /*****颜色说明
 51         *   uint16_t  范围为0-256*256 ；
 52         *   pcl 中 R  G  B利用的unsigned char  0-256；  
 53         *   因此这里将uint16_t 除以256  得到  三位数的0-256的值  
 54         *   从而进行rgba 值32位 的位运算。
 55         *
 56         ******/
 57 
 58         pcl::PointXYZRGBA thePt;  //int rgba = 255<<24 | ((int)r) << 16 | ((int)g) << 8 | ((int)b);
 59         thePt.x = x; thePt.y = y; thePt.z = z; 
 60         thePt.rgba = (uint32_t)255 << 24 | (uint32_t)(red / 256) << 16 | (uint32_t)(green / 256) << 8 | (uint32_t)(blue / 256);
 61             //uint32_t rgb = *reinterpret_cast<int*>(&thePt.rgb);  //reinterpret_cast 强制转换
 62         cloudOutput->push_back(thePt);
 63     }
 64 
 65     //boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
 66     //viewer->setBackgroundColor(0, 0, 0); //设置背景
 67     //viewer->addPointCloud(cloudOutput,"cloudssd");
 68     //while (!viewer->wasStopped()){
 69     //    viewer->spinOnce();
 70     //}
 71     pcl::io::savePCDFileASCII(strOutPutPointCloudName, *cloudOutput);
 72     cloudOutput->clear();
 73 }
 74 
 75 //读入点云，写.las
 76 
 77 void writeLasFromPointCloud3(const char* strInputPointCloudName, const char* strOutLasName)
 78 {
 79     std::ofstream ofs(strOutLasName, ios::out | ios::binary);
 80     if (!ofs.is_open())
 81     {
 82         std::cout << "err  to  open  file  las....." << std::endl;
 83         return;
 84     }
 85     liblas::Header header;
 86     header.SetVersionMajor(1);
 87     header.SetVersionMinor(2);
 88     header.SetDataFormatId(liblas::PointFormatName::ePointFormat3);
 89     header.SetScale(0.001, 0.001, 0.001);
 90 
 91     pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
 92     pcl::io::loadPCDFile(strInputPointCloudName, *cloud);
 93     std::cout << "总数:" << cloud->points.size() << std::endl;
 94     //写liblas,
 95     liblas::Writer writer(ofs, header);
 96     liblas::Point point(&header);
 97 
 98     for (size_t i = 0; i < cloud->points.size(); i++)
 99     {
100         double x = cloud->points[i].x;
101         double y = cloud->points[i].y;
102         double z = cloud->points[i].z;
103         point.SetCoordinates(x, y, z);
104 
105         uint32_t red = (uint32_t)cloud->points[i].r;
106         uint32_t green = (uint32_t)cloud->points[i].g;
107         uint32_t blue = (uint32_t)cloud->points[i].b;
108         liblas::Color pointColor(red, green, blue);
109         point.SetColor(pointColor);
110         writer.WritePoint(point);
111         //std::cout << x << "," << y << "," << z << std::endl;
112     }
113     double minPt[3] = { 9999999, 9999999, 9999999 };
114     double maxPt[3] = { 0, 0, 0 };
115     header.SetPointRecordsCount(cloud->points.size());
116     header.SetPointRecordsByReturnCount(0, cloud->points.size());
117     header.SetMax(maxPt[0], maxPt[1], maxPt[2]);
118     header.SetMin(minPt[0], minPt[1], minPt[2]);
119     writer.SetHeader(header);
120 }
121 
122 int main()
123 {
124     //char strInputLasName[] = "qq.las";//"Scan_az001.las";
125     //char strOutPutPointCloudName[]="qqqq.pcd";
126     //writePointCloudFromLas(strInputLasName, strOutPutPointCloudName);
127 
128     //std::string strInputPointCloudName = "eewge";
129     //std::string strOutLasName = "eewge";
130     //writeLasFromPointCloud(strInputPointCloudName.c_str(), strOutLasName.c_str());
131     char strInputPointCloudName[] = "qq.pcd";
132     char strOutLasName[] = "qq.las";
133     writeLasFromPointCloud3(strInputPointCloudName, strOutLasName);
134 
135     return 0;
136 }