liblas库是一个对Lidar数据.las格式的读写等操作的开源库。
下载liblas软件源码:https://liblas.org/download.html
如下该是liblas 1.8.1版本
链接:https://pan.baidu.com/s/1-BcfrR1v8d5NZQTgbfOPJg
提取码:7joh
***.tar.gz文件解压
tar -xzvf *****.tar.gz
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
检查安装是否成功
lasinfo ***.las
可能会遇到的问题:
1、Unable to find sufficient GeoTIFF
解决方法:安装libgeotiff
如下该是libgeotiff-1.3.0版本安装包
链接: https://pan.baidu.com/s/10vy5OytkJB6V9U5u7ELBjw 提取码: fsau
wget https://download.osgeo.org/geotiff/libgeotiff/libgeotiff-1.3.0.tar.gz
# 解压后
./configure
make
sudo make install
程序:las_read.cpp
#include
#include
#include
#include
#include
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++;
}
return 0;
}
//==================================================================
pcl::io::savePCDFile("***.pcd",cloud);
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})