las2pcd.cpp

#include <iostream> #include <cstdlib> #include <liblas/liblas.hpp> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include<liblas/liblas.hpp> #include<liblas/reader.hpp> #include<liblas/factory.hpp> #include<liblas/point.hpp> using namespace std; int main (int argc, char** argv) { std::ifstream ifs(argv[1], std::ios::in | std::ios::binary); // 打开las文件 liblas::ReaderFactory f; liblas::Reader reader = f.CreateWithStream(ifs); // 读取las文件 unsigned long int nbPoints=reader.GetHeader().GetPointRecordsCount();//获取las数据点的个数 pcl::PointCloud<pcl::PointXYZRGB> cloud; cloud.width = nbPoints; //保证与las数据点的个数一致 cloud.height = 1; cloud.is_dense = false; cloud.points.resize (cloud.width * cloud.height); int i=0; uint16_t r1, g1, b1; int r2, g2, b2; uint32_t rgb; while(reader.ReadNextPoint()) { // 获取las数据的x，y，z信息 cloud.points[i].x = (reader.GetPoint().GetX()); cloud.points[i].y = (reader.GetPoint().GetY()); cloud.points[i].z = (reader.GetPoint().GetZ()); //获取las数据的r，g，b信息 r1 = (reader.GetPoint().GetColor().GetRed()); g1 = (reader.GetPoint().GetColor().GetGreen()); b1 = (reader.GetPoint().GetColor().GetBlue()); r2 = ceil(((float)r1/65536)*(float)256); g2 = ceil(((float)g1/65536)*(float)256); b2 = ceil(((float)b1/65536)*(float)256); rgb = ((int)r2) << 16 | ((int)g2) << 8 | ((int)b2); cloud.points[i].rgb = *reinterpret_cast<float*>(&rgb); i++; } pcl::io::savePCDFileASCII ("pointcloud.pcd", cloud);//存储为pcd类型文件 return (0); }

CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR) project(las2pcd) find_package(PCL 1.7 REQUIRED) find_package(libLAS REQUIRED) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable (las2pcd las2pcd.cpp) target_link_libraries (las2pcd ${PCL_LIBRARIES} ${libLAS_LIBRARIES})

注意：

开发环境：deepin20，点云库PCL从入门到精通上面提供的libLAS是windows下的，不能直接用。本人这里通过在网上下载libLAS源码，经过cmake，make后生成。