144 lines
4.0 KiB
C++
144 lines
4.0 KiB
C++
#ifndef POINT_CLOUD_CONVERTER_H
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#define POINT_CLOUD_CONVERTER_H
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#include <string>
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#include <vector>
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#include <memory>
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/**
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* @brief 简单的 3D 点结构
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*/
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struct Point3D
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{
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float x, y, z;
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Point3D() : x(0), y(0), z(0) {}
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Point3D(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {}
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};
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/**
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* @brief 带颜色的 3D 点结构
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*/
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struct Point3DRGB
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{
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float x, y, z;
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uint8_t r, g, b;
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Point3DRGB() : x(0), y(0), z(0), r(255), g(255), b(255) {}
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Point3DRGB(float _x, float _y, float _z, uint8_t _r = 255, uint8_t _g = 255, uint8_t _b = 255)
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: x(_x), y(_y), z(_z), r(_r), g(_g), b(_b) {}
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};
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/**
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* @brief 简单的点云容器
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*/
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template<typename PointT>
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class SimplePointCloud
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{
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public:
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std::vector<PointT> points;
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std::vector<int> lineIndices; // 每个点所属的线索引
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void clear() { points.clear(); lineIndices.clear(); }
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size_t size() const { return points.size(); }
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bool empty() const { return points.empty(); }
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void reserve(size_t n) { points.reserve(n); lineIndices.reserve(n); }
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void push_back(const PointT& pt) { points.push_back(pt); }
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void push_back(const PointT& pt, int lineIdx) {
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points.push_back(pt);
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lineIndices.push_back(lineIdx);
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}
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};
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using PointCloudXYZ = SimplePointCloud<Point3D>;
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using PointCloudXYZRGB = SimplePointCloud<Point3DRGB>;
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/**
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* @brief 点云数据转换器
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* 负责加载 txt 和 pcd 格式的点云文件
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*/
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class PointCloudConverter
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{
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public:
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PointCloudConverter();
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~PointCloudConverter();
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/**
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* @brief 从 txt 文件加载点云（使用 CloudUtils）
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*/
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int loadFromTxt(const std::string& fileName, PointCloudXYZ& cloud);
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int loadFromTxt(const std::string& fileName, PointCloudXYZRGB& cloud);
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/**
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* @brief 从 pcd 文件加载点云（简单 ASCII/Binary 解析）
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*/
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int loadFromPcd(const std::string& fileName, PointCloudXYZ& cloud);
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int loadFromPcd(const std::string& fileName, PointCloudXYZRGB& cloud);
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/**
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* @brief 根据文件扩展名自动选择加载方式
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*/
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int loadFromFile(const std::string& fileName, PointCloudXYZ& cloud);
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int loadFromFile(const std::string& fileName, PointCloudXYZRGB& cloud);
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/**
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* @brief 保存点云到 txt 文件（使用 CloudUtils）
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*/
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int saveToTxt(const std::string& fileName, const PointCloudXYZ& cloud, int lineNum, int linePtNum);
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/**
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* @brief 旋转点云（行列转置 + 交换XY）
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* @param cloud 输入点云
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* @param rotatedCloud 输出旋转后的点云
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* @param lineNum 原始线数
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* @param linePtNum 原始每线点数
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* @param newLineNum 输出新的线数
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* @param newLinePtNum 输出新的每线点数
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*/
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int rotateCloud(const PointCloudXYZ& cloud, PointCloudXYZ& rotatedCloud,
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int lineNum, int linePtNum, int& newLineNum, int& newLinePtNum);
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/**
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* @brief 获取最后的错误信息
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*/
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std::string getLastError() const { return m_lastError; }
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/**
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* @brief 获取加载的点云数量
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*/
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size_t getLoadedPointCount() const { return m_loadedPointCount; }
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/**
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* @brief 获取加载的线数量
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*/
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int getLoadedLineCount() const { return m_loadedLineCount; }
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private:
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/**
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* @brief 获取文件扩展名（小写）
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*/
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std::string getFileExtension(const std::string& fileName);
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/**
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* @brief 解析 PCD 文件头
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*/
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struct PcdHeader
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{
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int width = 0;
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int height = 1;
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int points = 0;
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bool isBinary = false;
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bool hasRgb = false;
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std::vector<std::string> fields;
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std::vector<int> fieldSizes;
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std::vector<char> fieldTypes;
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int pointSize = 0;
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};
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bool parsePcdHeader(std::ifstream& file, PcdHeader& header);
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std::string m_lastError;
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size_t m_loadedPointCount;
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int m_loadedLineCount;
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};
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#endif // POINT_CLOUD_CONVERTER_H
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