PCD及PLY檔案的載入和儲存
阿新 • • 發佈:2021-01-20
//開啟PCD檔案或者PLY檔案程式碼 void MainWindow::loadFileButtonPressed () { // You might want to change "/home/" if you're not on an *nix platform QString filename = QFileDialog::getOpenFileName (this, tr ("Open point cloud"), "/home/", tr ("Point cloud data (*.pcd *.ply)")); PCL_INFO("File chosen: %s\n", filename.toStdString ().c_str ()); PointCloudT::Ptr cloud_tmp (new PointCloudT); if (filename.isEmpty ()) return; int return_status; if (filename.endsWith (".pcd", Qt::CaseInsensitive)) return_status = pcl::io::loadPCDFile (filename.toStdString (), *cloud_tmp); else return_status = pcl::io::loadPLYFile (filename.toStdString (), *cloud_tmp); if (return_status != 0) { PCL_ERROR("Error reading point cloud %s\n", filename.toStdString ().c_str ()); return; } PCL_WARN("file has loaded\n"); // If point cloud contains NaN values, remove them before updating the visualizer point cloud if (cloud_tmp->is_dense) pcl::copyPointCloud (*cloud_tmp, *cloud_); else { PCL_WARN("Cloud is not dense! Non finite points will be removed\n"); std::vector<int> vec; pcl::removeNaNFromPointCloud (*cloud_tmp, *cloud_, vec); } colorCloudDistances (); viewer_->updatePointCloud (cloud_, "cloud"); viewer_->resetCamera (); ui->qvtkWidget->update (); }
//儲存PCD檔案或者PLY程式碼 void MainWindow::saveFileButtonPressed () { // You might want to change "/home/" if you're not on an *nix platform QString filename = QFileDialog::getSaveFileName(this, tr ("Open point cloud"), "/home/", tr ("Point cloud data (*.pcd *.ply)")); PCL_INFO("File chosen: %s\n", filename.toStdString ().c_str ()); if (filename.isEmpty ()) return; int return_status; if (filename.endsWith (".pcd", Qt::CaseInsensitive)) return_status = pcl::io::savePCDFileBinary (filename.toStdString (), *cloud_); else if (filename.endsWith (".ply", Qt::CaseInsensitive)) return_status = pcl::io::savePLYFileBinary (filename.toStdString (), *cloud_); else { filename.append(".ply"); return_status = pcl::io::savePLYFileBinary (filename.toStdString (), *cloud_); } if (return_status != 0) { PCL_ERROR("Error writing point cloud %s\n", filename.toStdString ().c_str ()); return; } }