4-2_OcTree點雲壓縮

4-2_OcTree點雲壓縮

程式說明:

範例程式:

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/octree/octree_pointcloud.h>
#include <pcl/octree/octree_search.h>
#include <pcl/compression/octree_pointcloud_compression.h>

int main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr showPoints(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::io::loadPCDFile("points.pcd", *showPoints);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr showPointsOut(new pcl::PointCloud<pcl::PointXYZRGB>);

    pcl::io::compression_Profiles_e compressionProfile = pcl::io::MED_RES_ONLINE_COMPRESSION_WITH_COLOR;
    bool showStatistics = true;

    pcl::io::OctreePointCloudCompression<pcl::PointXYZRGB>::Ptr PointCloudEncoder(new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGB>(compressionProfile, showStatistics));

    pcl::io::OctreePointCloudCompression<pcl::PointXYZRGB>::Ptr PointCloudDecoder(new pcl::io::OctreePointCloudCompression<pcl::PointXYZRGB>());

    std::stringstream compressedData;

    PointCloudEncoder->encodePointCloud(showPoints, compressedData);

    PointCloudDecoder->decodePointCloud(compressedData, showPointsOut);

    pcl::visualization::CloudViewer viewer("Clouds");

    viewer.showCloud(showPointsOut);

    while (!viewer.wasStopped())
    {
       //因為這邊是和visualization的視窗同步跑，所以可以在之中執行一些處理
    }

    return 0;
}