在ubuntu上使用las读取点云
1、环境配置
1.1、安装libgeotiff
下载依赖
sudo apt-get install libtiff-dev //安装libtiff
sudo apt-get install libproj-dev //安装libproj
下载源码，编译
如下该是libgeotiff-1.3.0版本安装包
wget https://download.osgeo.org/geotiff/libgeotiff/libgeotiff-1.3.0.tar.gz
# 解压后
./configure
make
sudo make install
1.2、liblas安装
git clone https://github.com/libLAS/libLAS.git
cd libLAS
mkdir build
cd build
cmake .. 或 cmake -G "Unix Makefiles" ../
make
sudo make install
1.3、测试liblas
las_read.cpp
#include <iostream>
#include <liblas/liblas.hpp>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
using namespace std;
int main(int argc,char **argv)
{//----------------------------- 打开LAS格式点云文件并读取 ----------------------------std::ifstream ifs("****.las", std::ios::in | std::ios::binary); if (!ifs.is_open()){std::cout << "cannot open .las" << std::endl;return (0);}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++;}pcl::io::savePCDFile("***.pcd",cloud);return 0;
}//==================================================================CMakeLists.txt 文件
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(LasRead)find_package(PCL 1.8 REQUIRED)
find_package(libLAS REQUIRED)include_directories(${PCL_INCLUDE_DIRS})
#或者指定搜寻pcl路径
#include_directories("/usr/include/pcl-1.8")link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})add_executable (las_read las_read.cpp)
target_link_libraries (las_read ${PCL_LIBRARIES} ${libLAS_LIBRARIES})参考链接
)
