【原】机载LiDAR的XYZ文件数据读取及点云二维元胞数据组织

点云PCL 2021-03-09

展开全文

在进行机载LiDAR点云数据组织时，涉及到二维元胞数组的构建。二维元胞数据组织，即将点云在XOY平面上进行规则格网划分，每个格网内存储相应的点云数据，便于后续数据处理操作，如查找近邻点操作、数学形态学滤波，均涉及到点云格网化。在这里，主要介绍使用一种vector的二级指针编写数据组织函数。

整个代码如下：

#include<iostream>
#include<cmath>
using namespace std; #include<vector>
#include<fstream>
#include<sstream>
#include<cmath>

struct Point3D { doublex; doubley; doublez; }; double get_min_element(vector<double> a) { doubletemp; doublemin = a[0];
for(int i = 0; i < a.size(); i++) { if(min>a[i]) { temp = min; min = a[i]; a[i] = temp; } } return min; }
double get_max_element(vector<double> a) { doubletemp; doublemax = a[0];
for(int i = 0; i < a.size(); i++) { if(max < a[i]) { temp = max; max = a[i]; a[i] = temp; }
} returnmax; }
//函数中，默认指针是给你已经分配好内存，故在函数里面，不要多此一举再进行空间内存分配

void PointPutIntoGrid(char *str,vector<Point3D> **grid)//二级指针
{ ifstreaminfile(str, ios::in); doublex, y, z; Point3Dpoint; charline[64]; vector<double>Xarray, Yarray; vector<Point3D>PointCluster;
  while(infile.getline(line,sizeof(line))) { stringstreamword(line); word>> x; word>> y; word>> z;
   point.x= x; point.y= y; point.z= z; PointCluster.push_back(point); Xarray.push_back(x); Yarray.push_back(y); } doubleXmin = get_min_element(Xarray); doubleXmax = get_max_element(Xarray); doubleYmin = get_min_element(Yarray); doubleYmax = get_max_element(Yarray); introws = ceil((Ymax - Ymin) / 30);//行数 intcolumns = ceil((Xmax - Xmin) / 30);//列数
//**不要重复再分配内存空间 for(int i = 0; i < PointCluster.size(); i++) { introwID = floor((PointCluster[i].y - Ymin) / 30); intcolumnID = floor((PointCluster[i].x - Xmin) / 30); grid[rowID][columnID].push_back(PointCluster[i]); } }
#define Value1 125
#define Value2 8
void main() {
  char*fileName = "XXX:\\.测试数据.xyz"; ifstreaminfile(fileName, ios::in); doublex, y, z; Point3Dpoint; charline[64]; vector<double>Xarray, Yarray; vector<Point3D>PointCluster;
  while(infile.getline(line, sizeof(line))) { stringstreamword(line); word>> x; word>> y; word>> z; point.x= x; point.y= y; point.z= z; PointCluster.push_back(point); Xarray.push_back(x); Yarray.push_back(y); } doubleXmin = get_min_element(Xarray); doubleXmax = get_max_element(Xarray); doubleYmin = get_min_element(Yarray); doubleYmax = get_max_element(Yarray); introws = ceil((Ymax - Ymin) / 30);//行数 intcolumns = ceil((Xmax - Xmin) / 30);//列数
//*******在具体使用时，是要声明空间内存的************ vector<Point3D>**arr= new vector<Point3D>*[rows];
for(int i = 0; i < rows; i++) { arr[i]= new vector<Point3D>[columns]; } PointPutIntoGrid(fileName,arr); cout << "在格网"<< Value1 << "行" <<","
<< Value1 << "列中包含的点如下："<< endl;

for(int i = 0; i < arr[Value1][Value2].size(); i++) { cout<< "第" << i << "个点坐标:" << "X:"
<< arr[Value1][Value2][i].x<< "\t" <<
"Y:" << arr[Value1][Value2][i].y <<
"\t"<< "Z:" << arr[Value1][Value2][i].z << endl; } system("pause"); }

最后运行效果如下所示：