.las数据转.pcd并显示

.las数据转.pcd格式是参考这里点击打开链接，很容易能够得到正确的.pcd格式文件；

但是，当用PCL库读取并显示的时候，却看不到图形，我是用的PCL的第一种显示方法CloudViewer显示的，也是用的官网示例代码

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
    
int user_data;
    
void 
viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (1.0, 0.5, 1.0);
    pcl::PointXYZ o;
    o.x = 1.0;
    o.y = 0;
    o.z = 0;
    viewer.addSphere (o, 0.25, "sphere", 0);
    std::cout << "i only run once" << std::endl;
    
}
    
void 
viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
    ss << "Once per viewer loop: " << count++;
    viewer.removeShape ("text", 0);
    viewer.addText (ss.str(), 200, 300, "text", 0);
    
    //FIXME: possible race condition here:
    user_data++;
}
    
int 
main ()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
    
    pcl::visualization::CloudViewer viewer("Cloud Viewer");
    
    //blocks until the cloud is actually rendered
    viewer.showCloud(cloud);
    
    //use the following functions to get access to the underlying more advanced/powerful
    //PCLVisualizer
    
    //This will only get called once
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    
    //This will get called once per visualization iteration
    viewer.runOnVisualizationThread (viewerPsycho);
    while (!viewer.wasStopped ())
    {
    //you can also do cool processing here
    //FIXME: Note that this is running in a separate thread from viewerPsycho
    //and you should guard against race conditions yourself...
    user_data++;
    }
    return 0;
}

于是查找原因，准备换一种显示方法，就是比较复杂的PCLVisualizer,但是代码有点多，也是第一次学习使用PCL,就没有立刻写代码，而是分析了一下源代码中的示例数据，bunny.pcd;这只兔子的数据都是小于1的，猜测应该是归一化之后得到的坐标，所以，网上找相关内容，但没有得到肯定的答案，因为也担心归一化的效率问题，想看看有没有更好的办法啊，最终，没有找到更好的办法来保留原始坐标系统，通过修改.las转.pcd格式的代码，也就是增加了一个归一化步骤，之后得到数据，居然能够正常显示了，也算是有点收获；

// LASlib_3DlasTo2D.cpp: 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include "lasreader.hpp"
#include "laswriter.hpp"
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <GL/glut.h>  
#include "stdafx.h"
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <string>
#include <vector>
#include <fstream>
#include <ios>
#include <iostream>

//#include <glut.h>
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);

/*
将'/'格式的文件路径转换成 '\\';
*/
static std::string convertFilePath(const std::string& file)
{
	int i = 0;
	std::string s(file);
	for (i = 0; i < s.size(); ++i)
	{
		if (s[i] == '/')
			s[i] = '\\';
	}
	return s;
}
int main()
{

/*
	LASreadOpener lasreadopener;
	lasreadopener.set_file_name("1.las");
	LASreader* lasreader = lasreadopener.open();

	LASwriteOpener laswriteopener;
	laswriteopener.set_file_name("2.laz");
	LASwriter* laswriter = laswriteopener.open(&lasreader->header);

	while (lasreader->read_point())
		laswriter->write_point(&lasreader->point);

	laswriter->close();
	delete laswriter;

	lasreader->close();
	delete lasreader;
*/
	
	const char* your_las_file_path = "D:\\任务：点云和影像配准\\data\\LIDAR\\4test_60km.las";
		const char* your_pcd_out_file_path = "XX.pcd";
		//laslib只允许'\\'格式的文件路径。
		std::string lasFile = convertFilePath(your_las_file_path);


		//打开las文件
		LASreadOpener lasreadopener;
		lasreadopener.set_file_name(lasFile.c_str());
		LASreader* lasreader = lasreadopener.open();
		size_t count = lasreader->header.number_of_point_records;
		pcl::PointCloud<pcl::PointXYZ>::Ptr pointCloudPtr(new pcl::PointCloud<pcl::PointXYZ>);
		pointCloudPtr->resize(count);
		pointCloudPtr->width = 1;
		pointCloudPtr->height = count;
		pointCloudPtr->is_dense = false;
		size_t i = 0;
		int maxX = -9999, minX = 9999999999, MaxY = -999999999, minY = 9999999999, maxZ = -999999999, minZ=999999999;
		/*int x, y, z;*/
		
		maxX = lasreader->get_max_x();
		minX = lasreader->get_min_x();
		MaxY = lasreader->get_max_y();
		minY = lasreader->get_min_y();
		maxZ = lasreader->get_max_z();
		minZ = lasreader->get_min_z();

		double dx = maxX - minX;
		double dy = MaxY - minY;
		double dz = maxZ - minZ;
		double maxd = dx > dy ? (dx > dz ? dx : dz) : (dy > dz ? dy : dz);
		/*double maxd,mind,Dd;
		dx > dy ? (dx > dz ? (maxd = maxX, mind = minX, Dd = dx) : (maxd = maxZ, mind = minZ, Dd = dz)) : (dy > dz ? (maxd = MaxY, mind = minY, Dd = dy) : (maxd = maxZ, mind = minZ, Dd = dz));
*/

		printf( "%f",maxd);


		size_t j = 0;
		
		while (lasreader->read_point() && j < count)
		{
			pointCloudPtr->points[j].x = (lasreader->point.get_x() - minX)/maxd;
			pointCloudPtr->points[j].y = (lasreader->point.get_y() - minY)/maxd;
			pointCloudPtr->points[j].z = (lasreader->point.get_z() - minZ)/maxd;
			/*pointCloudPtr->points[j].x = (lasreader->point.get_x()) / 1;
			pointCloudPtr->points[j].y = (lasreader->point.get_y()) / 1;
			pointCloudPtr->points[j].z = (lasreader->point.get_z()) / 1;*/
			++j;
		}
		pcl::io::savePCDFileASCII(your_pcd_out_file_path, *pointCloudPtr);
	

		getchar();
    return 0;
}

这是CloudViewer显示结果，没有添加渲染效果；

这是原始.las数据，ENVILiDar软件显示：

.las数据转.pcd并显示

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