pcl 保存点云.ply 格式 or .pcd格式

最新推荐文章于 2024-11-19 21:35:55 发布

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最新推荐文章于 2024-11-19 21:35:55 发布

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分类专栏： 3D摄像头

原文链接：http://www.pcl-users.org/pcl-io-savePLYFile-crashing-in-Visual-studio-td4042792.html

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本文描述了在Windows上使用PCL库时遇到的问题，当尝试将点云数据保存为PLY格式时，程序会在Visual Studio中崩溃。尽管保存为PCD格式没有问题，但作者需要PLY格式以便在MeshLab中打开。提供了用于生成点云并尝试保存的代码示例。

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转自：http://www.pcl-users.org/pcl-io-savePLYFile-crashing-in-Visual-studio-td4042792.html

I installed pcl on windows machine today as i intend to use it in a mex function for my matlab project and wanted a working windows version of pcl. i ran a sample code shown below to generate 50 points and save them in a PCD and PLY file. However, for some reaosn savePLYFILE is crashing my program while savePCDFILE works fine. I am at a loss to epxlain this ( i do need my PC in ply format so i can open them in meshlab).  Here is the code: 

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/impl/point_types.hpp>
#include <pcl/point_cloud.h>


int  main (int argc, char** argv) 
{ 
  pcl::PointCloud<pcl::PointXYZ> cloud; 
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr = pcl::PointCloud<pcl::PointXYZ>::Ptr (new pcl::PointCloud<pcl::PointXYZ>); 
  // Fill in the cloud data 
  cloud.width    = 50; 
  cloud.height   = 1; 
  cloud.is_dense = false; 
  cloud.points.resize (cloud.width * cloud.height); 
  
  cloud_ptr->width = cloud.width ; 
  cloud_ptr->height = cloud.height; 
  cloud_ptr->is_dense = cloud.is_dense; 
 // cloud_ptr->points.resize (cloud.width * cloud.height); 

  for (size_t i = 0; i < cloud.points.size (); ++i) 
  { 
   // cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f); 
   // cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f); 
   // cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f); 

        pcl::PointXYZ p; 
        p.x = 1024 * rand () / (RAND_MAX + 1.0f); 
        p.y = 1024 * rand () / (RAND_MAX + 1.0f); 
        p.z = 1024 * rand () / (RAND_MAX + 1.0f); 
        cloud.points[i].x = p.x; 
        cloud.points[i].y = p.y; 
        cloud.points[i].z = p.z; 

        cloud_ptr->points.push_back(p); 
  } 
  std::cerr << "Saving to pcd file " << std::endl; 
  pcl::io::savePCDFileASCII ("test_pcd0.pcd", cloud); 
  pcl::io::savePCDFile ("test_pcd1.pcd", *cloud_ptr); 
  std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl; 

  std::cerr << "Saving to ply file " << std::endl; 
  pcl::io::savePLYFile ("test_ply.ply", cloud); 

  for (size_t i = 0; i < cloud.points.size (); ++i){ 
  //  std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl; 
          std::cerr << "    " << cloud_ptr->points[i].x << " " << cloud_ptr->points[i].y << " " << cloud_ptr->points[i].z << std::endl; 
  } 

  return (0); 
}