基于libLAS库读取LAS格式点云数据

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基于libLAS库将las格式的点云文件转化为pcd格式点云并进行显示！

1.示例代码：

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#include <iostream>
#include <liblas/liblas.hpp>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/common/common.h>


using namespace std;

int main()
{
	//打开LAS格式点云文件
	std::ifstream ifs("高速公路.las", std::ios::in | std::ios::binary); 
	liblas::ReaderFactory f;
	liblas::Reader reader = f.CreateWithStream(ifs); 

	//读取LAS文件信息头
	liblas::Header const& header = reader.GetHeader();
	double maxX = header.GetMaxX();
	double minX = header.GetMinX();
	double maxY = header.GetMaxY();
	double minY = header.GetMinY();
	double maxZ = header.GetMaxZ();
	double minZ = header.GetMinZ();
	int nbPoints = header.GetPointRecordsCount();
	string signature = header.GetFileSignature();

	cout << "maxX: " << maxX << endl;
	cout << "minX: " << minX << endl;
	cout << "maxY: " << maxY << endl;
	cout << "minY: " << minY << endl;
	cout << "maxZ: " << maxZ << endl;
	cout << "minZ: " << minZ << endl;
	cout << "点个数: " << maxX << endl;
	cout << "signature: " << signature << endl;

	pcl::PointCloud<pcl::PointXYZRGB> cloud;
	cloud.width = nbPoints;	
	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;

	//读取点云坐标和色彩信息
	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++;
	}

	//显示彩色点云
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(255, 255, 255);
	viewer->addPointCloud(cloud.makeShared(), "clound");
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	
	//输出pcd格式点云
	pcl::io::savePCDFileASCII("高速公路.pcd", cloud);
	
	system("pause");
	return (0);
}

2.实验结果：

读取las点云并显示

3.备注：

1).参考：点云库PCL从入门到精通 书中配套案例（该链接中第三章目录下含有编译好的libLAS库，可直接下载使用）。
2).依赖库：PCL1.8、libLAS。

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