pcl将pcd转mesh pcd转换为las

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angel 2024-08-08 19:30:27

文章标签 pcl将pcd转mesh 计算机视觉 #include sed 数据 文章分类 架构后端开发

Ubuntu环境下LAS数据格式与PCD数据格式的转换

１ LAS简介
２源文件代码
３在Ubuntu环境下使用遇到的问题
４解决办法

1）安装boost库
2）安装liblas库

５运行功能包

１ LAS简介

LAS是一种用于激光雷达数据交换的已发布标准文件格式，它保留与激光雷达数据有关的特定信息。每个LAS文件都在页眉块中包含激光雷达测量的元数据，然后是所记录的每个激光雷达脉冲的所有记录。每个 LAS 文件的页眉部分都保留有激光雷达测量本身的属性信息：数据范围、飞行日期、飞行时间、点记录数、返回的点数、使用的所有数据偏移以及使用的所有比例因子。为 LAS 文件的每个激光雷达脉冲保留以下激光雷达点属性：x,y,z 位置信息、GPS 时间戳、强度、回波编号、回波数目、点分类值、扫描角度、附加 RGB 值、扫描方向、飞行航线的边缘、用户数据、点源 ID 和波形信息。

LibLAS （https://www.liblas.org/）是一套用于处理常见的“LAS”LiDAR格式数据的C/C++函数库。本章主要利用LibLAS库结合PCL点云库进行LAS和PCD两种点云类型的转换。主要利用libLAS库中的liblas::Reader类和liblas::Writer类分别实现LAS数据的读取和写入。具体地，利用liblas::Reader类读入LAS数据，然后利用reader.GetPoint().GetX()、reader.GetPoint().GetY()、reader.GetPoint().GetZ()获取LAS文件每个点的x，y，z坐标赋予PCL的cloud类存储的点的x，y，z坐标，实现LAS数据格式向PCL数据格式的转换；将PCL的cloud类存储的点的x，y，z坐标提取并赋予liblas::Point类构造的点对象，然后利用liblas::Writer类下的WritePoint函数写入LAS类型文件，实现PCD数据格式向LAS数据格式的转换。

２源文件代码

#include <iostream>
#include <cstdlib>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <ros/package.h>
#include <cstring>
#include "liblas/liblas.hpp"

using namespace std;

int main (int argc, char** argv)
{
	std::string lasFileName = ros::package::getPath("convert_las2pcd") + "/las/ground.las";
    std::ifstream ifs(lasFileName.c_str(), 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++; 
	}

	std::string pcdFileName = ros::package::getPath("convert_las2pcd") + "/pcd/pointcloud.pcd";
	pcl::io::savePCDFileASCII(pcdFileName.c_str(), cloud);	// 存储为pcd类型文件

	return (0);
}

３在Ubuntu环境下使用遇到的问题

报错：对“liblas::Reader”和“liblas::Point”相关函数未定义的引用，如下所示：

pcl将pcd转mesh pcd转换为las_#include

４解决办法

1）安装boost库

（１）官方网站：（https://www.boost.org/），下载最新版本。我下载的版本是：Version 1.76.0，对应的安装包为：boost_1_76_0.tar.gz
（２）解压文件
（３）编译
进入文件夹boost_1_76_0，运行如下脚本：

./bootstrap.sh

运行完成后生成b2和project-config.jam两个文件。
上述命令可以带有各种选项，具体可参考帮助文档： ./bootstrap.sh --help。其中–prefix参数，可以指定安装路径，如果不带–prefix参数的话（推荐），默认路径是 /usr/local/include 和 /usr/local/lib，分别存放头文件和各种库。
（４）安装
编译完成后，进行安装，也就是将头文件和生成的库，放到指定的路径（–prefix）下：

sudo ./b2 install

注意，必须用管理员权限，否则无法写入到/usr/local/*目录下。
（５）测试
新建终端，创建文件：

touch testBoost.cpp
gedit testBoost.cpp

编写测试代码如下：

#include<iostream>
#include<boost/bind.hpp>
using namespace std;
using namespace boost;
int fun(int x,int y){return x+y;}
int main(){
    int m=２;int n=３;
    cout<<boost::bind(fun,_1,_2)(m,n)<<endl;
    return 0;
}

编译testBoost.cpp：

g++ testBoost.cpp -o testBoost

编译完后生成可执行程序testBoost，运行它：

./testBoost

会输出：5
至此，说明已成功安装boost库。

2）安装liblas库

（１）官方网站：（https://liblas.org/download.html），下载最新版本。我下载的版本是：Version libLAS-1.8.1，对应的安装包为：libLAS-1.8.1.tar.bz2
（２）解压文件夹
（３）编译，执行如下命令：

cd libLAS-1.8.1
mkdir makefiles
cd makefiles
cmake -G "Unix Makefiles" ../

（４）接着，继续执行如下命令：

make

在这一步可能会遇到的问题：

[ 1%] Building CXX object src/CMakeFiles/las.dir/header.cpp.o
/home/yuksel/Downloads/liblas/src/header.cpp: In copy constructor ‘liblas::Header::Header(const liblas::Header&)’:
/home/yuksel/Downloads/liblas/src/header.cpp:104:11: warning: variable ‘p’ set but not used [-Wunused-but-set-variable]
void* p = 0;
^
/home/yuksel/Downloads/liblas/src/header.cpp: In member function ‘liblas::Header& liblas::Header::operator=(const liblas::Header&)’:
/home/yuksel/Downloads/liblas/src/header.cpp:123:15: warning: variable ‘p’ set but not used [-Wunused-but-set-variable]
void* p = 0;
^
/home/yuksel/Downloads/liblas/src/header.cpp: In member function ‘void liblas::Header::DeleteVLRs(const string&, uint16_t)’:
/home/yuksel/Downloads/liblas/src/header.cpp:613:69: error: ‘1’ was not declared in this scope
boost::bind( &SameVLRs, name, id, 1 ) ),
^
/home/yuksel/Downloads/liblas/src/header.cpp:613:69: note: suggested alternatives:
In file included from /usr/local/include/boost/mpl/aux/include_preprocessed.hpp:37:0,
from /usr/local/include/boost/mpl/placeholders.hpp:43,
from /usr/local/include/boost/mpl/apply.hpp:24,
from /usr/local/include/boost/mpl/aux/iter_apply.hpp:17,
from /usr/local/include/boost/mpl/aux_/find_if_pred.hpp:14,
from /usr/local/include/boost/mpl/find_if.hpp:17,
from /usr/local/include/boost/mpl/find.hpp:17,
from /usr/local/include/boost/mpl/aux_/contains_impl.hpp:20,
from /usr/local/include/boost/mpl/contains.hpp:20,
from /usr/local/include/boost/multi_index_container.hpp:26,
from /home/yuksel/Downloads/liblas/include/liblas/external/property_tree/ptree.hpp:21,
from /home/yuksel/Downloads/liblas/include/liblas/schema.hpp:46,
from /home/yuksel/Downloads/liblas/include/liblas/point.hpp:47,
from /home/yuksel/Downloads/liblas/include/liblas/bounds.hpp:46,
from /home/yuksel/Downloads/liblas/include/liblas/header.hpp:47,
from /home/yuksel/Downloads/liblas/src/header.cpp:43:
/usr/local/include/boost/mpl/aux_/preprocessed/gcc/placeholders.hpp:29:16: note: ‘mpl_::1’
typedef arg<1> 1;
^
/usr/local/include/boost/mpl/aux/preprocessed/gcc/placeholders.hpp:29:16: note: ‘mpl::1’
In file included from /usr/local/include/boost/bind/bind.hpp:2356:0,
from /usr/local/include/boost/multi_index/sequenced_index.hpp:17,
from /home/yuksel/Downloads/liblas/include/liblas/external/property_tree/ptree.hpp:23,
from /home/yuksel/Downloads/liblas/include/liblas/schema.hpp:46,
from /home/yuksel/Downloads/liblas/include/liblas/point.hpp:47,
from /home/yuksel/Downloads/liblas/include/liblas/bounds.hpp:46,
from /home/yuksel/Downloads/liblas/include/liblas/header.hpp:47,
from /home/yuksel/Downloads/liblas/src/header.cpp:43:
/usr/local/include/boost/bind/placeholders.hpp:46:38: note: ‘boost::placeholders::1’
BOOST_STATIC_CONSTEXPR boost::arg<1> 1;
^
In file included from /usr/local/include/boost/lambda/lambda.hpp:14:0,
from /home/yuksel/Downloads/liblas/src/header.cpp:56:
/usr/local/include/boost/lambda/core.hpp:71:60: note: ‘boost::lambda::{anonymous}::1’
boost::lambda::placeholder1_type& BOOST_ATTRIBUTE_UNUSED 1 = free1;
^
/usr/local/include/boost/lambda/core.hpp:71:60: note: ‘boost::lambda::{anonymous}::1’
In file included from /usr/local/include/boost/mpl/aux/include_preprocessed.hpp:37:0,
from /usr/local/include/boost/mpl/placeholders.hpp:43,
from /usr/local/include/boost/mpl/apply.hpp:24,
from /usr/local/include/boost/mpl/aux/iter_apply.hpp:17,
from /usr/local/include/boost/mpl/aux/find_if_pred.hpp:14,
from /usr/local/include/boost/mpl/find_if.hpp:17,
from /usr/local/include/boost/mpl/find.hpp:17,
from /usr/local/include/boost/mpl/aux/contains_impl.hpp:20,
from /usr/local/include/boost/mpl/contains.hpp:20,
from /usr/local/include/boost/multi_index_container.hpp:26,
from /home/yuksel/Downloads/liblas/include/liblas/external/property_tree/ptree.hpp:21,
from /home/yuksel/Downloads/liblas/include/liblas/schema.hpp:46,
from /home/yuksel/Downloads/liblas/include/liblas/point.hpp:47,
from /home/yuksel/Downloads/liblas/include/liblas/bounds.hpp:46,
from /home/yuksel/Downloads/liblas/include/liblas/header.hpp:47,
from /home/yuksel/Downloads/liblas/src/header.cpp:43:
/usr/local/include/boost/mpl/aux/preprocessed/gcc/placeholders.hpp:29:16: note: ‘mpl::_1’
typedef arg<1> _1;
^
src/CMakeFiles/las.dir/build.make:199: recipe for target ‘src/CMakeFiles/las.dir/header.cpp.o’ failed
make[2]: *** [src/CMakeFiles/las.dir/header.cpp.o] Error 1
CMakeFiles/Makefile2:273: recipe for target ‘src/CMakeFiles/las.dir/all’ failed
make[1]: *** [src/CMakeFiles/las.dir/all] Error 2
Makefile:182: recipe for target ‘all’ failed
make: *** [all] Error 2

解决办法如下：
需要对libLAS-1.8.1/src/文件夹下面的header.cpp做如下修改：
①增加头文件

#include <boost/bind/bind.hpp>

②在函数Header::DeleteVLRs(std::string const& name, uint16_t id)前添加命名空间

using namespace boost::placeholders;

按上述方式修改header.cpp文件后，重新编译liblas:

cmake ..
make

此时，还会报另外两个错误，如下所示：

In function 'LASErrorEnum LASWriter_SetOutputSRS(LASWriterH , LASSRSH )':
error:'_1' was not declared in this scope
boost::bind(&IsReprojectionTransform, _1)

In function 'LASErrorEnum LASReader_SetOutputSRS(LASReaderH , LASSRSH )':
error:'_1' was not declared in this scope
boost::bind(&IsReprojectionTransform, _1)

解决办法如下：
需要对libLAS-1.8.1/src/文件夹下面的c_api.cpp boost做如下修改：
①增加头文件

#include<boost/bind/bind.hpp>

②在LASErrorEnum LASReader_SetOutputSRS(LASReaderH, LASSRSH)函数前添加

using namespace boost::placeholders;

③在LASErrorEnum LASWriter_SetOutputSRS(LASWriterH, LASSRSH)函数前添加

using namespace boost::placeholders;

按上述方式修改c_api.cpp boost文件后，重新编译liblas:

cmake ..
make

（5）最后，执行如下命令：

make install

（6）测试，执行如下命令：

lasinfo ../test/data/TO_core_last_clip.las

会输出如下类似信息：

---------------------------------------------------------
  Header Summary
---------------------------------------------------------

  Version:                     1.0
  Source ID:                   0
  Reserved:                    0
  Project ID/GUID:             '00000000-0000-0000-0000-000000000000'
  System ID:                   ''
  Generating Software:         'TerraScan'
  File Creation Day/Year:      0/0
  Header Byte Size             227
  Data Offset:                 229
  Header Padding:              2
  Number Var. Length Records:  None
  Point Data Format:           1
  Number of Point Records:     8
  Compressed:                  False
  Number of Points by Return:  4 4 0 0 0 
  Scale Factor X Y Z:          0.01000000000000 0.01000000000000 0.01000000000000
  Offset X Y Z:                -0.00 -0.00 -0.00
  Min X Y Z:                   630262.30 4834500.00 50.90
  Max X Y Z:                   630346.83 4834500.00 55.26
  Spatial Reference:           
Reference defined, but GDAL is not available for WKT support

Geotiff_Information:
   Version: 1
   Key_Revision: 1.0
   Tagged_Information:
      End_Of_Tags.
   Keyed_Information:
      End_Of_Keys.
   End_Of_Geotiff.


---------------------------------------------------------
  Schema Summary
---------------------------------------------------------
  Point Format ID:             1
  Number of dimensions:        13
  Custom schema?:              false
  Size in bytes:               28

  Dimensions
---------------------------------------------------------
  'X'                            --  size: 32 offset: 0
  'Y'                            --  size: 32 offset: 4
  'Z'                            --  size: 32 offset: 8
  'Intensity'                    --  size: 16 offset: 12
  'Return Number'                --  size: 3 offset: 14
  'Number of Returns'            --  size: 3 offset: 14
  'Scan Direction'               --  size: 1 offset: 14
  'Flightline Edge'              --  size: 1 offset: 14
  'Classification'               --  size: 8 offset: 15
  'Scan Angle Rank'              --  size: 8 offset: 16
  'User Data'                    --  size: 8 offset: 17
  'Point Source ID'              --  size: 16 offset: 18
  'Time'                         --  size: 64 offset: 20
  
---------------------------------------------------------
  Point Inspection Summary
---------------------------------------------------------
  Header Point Count: 8
  Actual Point Count: 8

  Minimum and Maximum Attributes (min,max)
---------------------------------------------------------
  Min X, Y, Z: 		630262.30, 4834500.00, 50.90
  Max X, Y, Z: 		630346.83, 4834500.00, 55.26
  Bounding Box:		630262.30, 4834500.00, 630346.83, 4834500.00
  Time:			413665.233600, 414094.846200
  Return Number:	1, 2
  Return Count:		1, 2
  Flightline Edge:	0, 0
  Intensity:		90, 670
  Scan Direction Flag:	0, 0
  Scan Angle Rank:	0, 0
  Classification:	1, 1
  Point Source Id:	0, 0
  User Data:		3, 4
  Minimum Color (RGB):	0 0 0 
  Maximum Color (RGB):	0 0 0 

  Number of Points by Return
---------------------------------------------------------
	(1) 4	(2) 4

  Number of Returns by Pulse
---------------------------------------------------------
	(1) 4	(2) 4

  Point Classifications
---------------------------------------------------------
	8 Unclassified (1) 
  -------------------------------------------------------
  	0 withheld
  	0 keypoint
  	0 synthetic
  -------------------------------------------------------

５运行功能包

在编译运行功能包之前，需要修改CMakeLists.txt文件，如下所示：

cmake_minimum_required(VERSION 2.8)
project(convert_las2pcd)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  roslib
)

find_package(PCL 1.7 REQUIRED)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)
include_directories(${Boost_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})
link_directories(${catkin_LIB_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (las2pcd src/las2pcd.cpp)
target_link_libraries (las2pcd ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES} /usr/local/lib/liblas.so.3)

注意：如果不在target_link_libraries()中添加/usr/local/lib/liblas.so.3（这个就是liblas库安装路径，需要根据您的安装路径进行修改），则会报对“liblas::Reader”和“liblas::Point”相关函数未定义的引用的错误。

按照上述操作步骤完成后，进行编译。但是在此时，还遇到另外一个问题，报“libboost_thread.so.xxx.xxx.xxx: cannot open shared object file: No such file or directory”错误，如下所示：

pcl将pcd转mesh pcd转换为las_数据_02