利用vs pcl库将多个PCD文件合并成一张PCD地图
主机环境：win10系统，pcl库1.11.1，
vs2019 pcl库安装以及环境配置如下连接：
https://www.jb51.net/article/190710.htm
代码很简单，主要是做个坐标转换，如下：
#include#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
void GetAllFiles(string path, vector
{
long hFile = 0;
//文件信息
struct _finddata_t fileinfo;
string p;
if ((hFile = _findfirst(p.assign(path).append("\\*").c_str(), &fileinfo)) != -1)
{
do
{
if ((fileinfo.attrib & _A_SUBDIR))
{
if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)
{
files.push_back(p.assign(path).append("\\").append(fileinfo.name)); GetAllFiles(p.assign(path).append("\\").append(fileinfo.name), files);
}
}
else
{
files.push_back(p.assign(path).append("\\").append(fileinfo.name));
}
} while (_findnext(hFile, &fileinfo) == 0);
_findclose(hFile);
}
} //获取特定格式的文件名
void GetAllFormatFiles(string path, vector
{
//文件句柄
long long hFile = 0;
//文件信息
struct _finddata_t fileinfo;
string p;
if ((hFile = _findfirst(p.assign(path).append("\\*" + format).c_str(), &fileinfo)) != -1)
{
do
{
if ((fileinfo.attrib & _A_SUBDIR))
{
if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)
{
//files.push_back(p.assign(path).append("\\").append(fileinfo.name) );
GetAllFormatFiles(p.assign(path).append("\\").append(fileinfo.name), files, format);
}
}
else
{
files.push_back(p.assign(path).append("\\").append(fileinfo.name));
}
} while (_findnext(hFile, &fileinfo) == 0);
_findclose(hFile);
}
} int main()
{
string filePath = "C:\\Users\\CTOS\\Desktop\\newpcd";
vector
const char* distAll = "*.pcd";
string format = ".pcd";
GetAllFormatFiles(filePath, files, format);
ofstream ofn(distAll);
int size = files.size();
cout << size << endl;
ofn << size << endl;
pcl::PointCloud
pcl::PointCloud
pcl::PointCloud
for (int i = 0; i < size; i++)
{
ofn << files[i] << endl;
cout << files[i] << endl;
if (pcl::io::loadPCDFile
{
cout << "Couldn't read file pcd \n"<< endl; //文件不存在时，返回错误，终止程序。
return (-1);
}
Eigen::Vector4f p = cloud_prt->sensor_origin_.matrix();
Eigen::Quaternionf q;
q = cloud_prt->sensor_orientation_.matrix();
Eigen::Vector3f eulerAngle = q.matrix().eulerAngles(2, 1, 0);
Eigen::Affine3f transform = Eigen::Affine3f::Identity();
transform.translation() << p[0], p[1], p[2];
transform.rotate(q);
std::cout << transform.matrix() << std::endl;
pcl::transformPointCloud(*cloud_prt, *transformed_cloud, transform);
*cloud += *transformed_cloud;
cloud_prt->clear();
transformed_cloud->clear();
Sleep(1);
}
pcl::visualization::CloudViewer viewer("pcd viewer");
viewer.showCloud(cloud);
while (!viewer.wasStopped())
{
}
ofn.close();
return 0;
} 最终效果：