Created
March 8, 2016 13:48
Example of inconsistent reading/writing of PCD files
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| #include <cstdlib> | |
| #include <pcl/io/pcd_io.h> | |
| #include <iostream> | |
| using namespace pcl; | |
| using namespace std; | |
| int main (int argc, char* argv[]) | |
| { | |
| PointCloud<PointXYZI> cloud; | |
| PCLPointCloud2 cloud_blob; | |
| PCLPointCloud2 cloud_blob_binary; | |
| PCLPointCloud2 cloud_blob_ascii; | |
| PCLPointCloud2 cloud_blob_binary_blob; | |
| PCLPointCloud2 cloud_blob_ascii_blob; | |
| cloud.width = 640; | |
| cloud.height = 480; | |
| cloud.points.resize (cloud.width * cloud.height); | |
| cloud.is_dense = true; | |
| srand (static_cast<unsigned int> (time (NULL))); | |
| size_t nr_p = cloud.points.size (); | |
| // Randomly create a new point cloud | |
| for (size_t i = 0; i < nr_p; ++i) | |
| { | |
| cloud[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0)); | |
| cloud[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0)); | |
| cloud[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0)); | |
| cloud.points[i].intensity = static_cast<float> (i); | |
| } | |
| toPCLPointCloud2(cloud, cloud_blob); | |
| io::savePCDFile("cloud_binary.pcd", cloud, true); | |
| io::loadPCDFile("cloud_binary.pcd", cloud_blob_binary); | |
| cout << std::boolalpha << "binary: " | |
| << cloud_blob.data.size() << " = " << cloud_blob_binary.data.size() | |
| << " equal: " << (cloud_blob.data.size() == cloud_blob_binary.data.size()) | |
| << endl; | |
| io::savePCDFile("cloud_ascii.pcd", cloud, false); | |
| io::loadPCDFile("cloud_ascii.pcd", cloud_blob_ascii); | |
| cout << std::boolalpha << "ascii : " | |
| << cloud_blob.data.size() << " = " << cloud_blob_ascii.data.size() | |
| << " equal: " << (cloud_blob.data.size() == cloud_blob_ascii.data.size()) | |
| << endl; | |
| io::savePCDFile("blob_binary.pcd", cloud_blob, Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), true); | |
| io::loadPCDFile("blob_binary.pcd", cloud_blob_binary_blob); | |
| cout << std::boolalpha << "binary_blob: " | |
| << cloud_blob.data.size() << " = " << cloud_blob_binary_blob.data.size() | |
| << " equal: " << (cloud_blob.data.size() == cloud_blob_binary_blob.data.size()) | |
| << endl; | |
| io::savePCDFile("blob_ascii.pcd", cloud_blob, Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), false); | |
| io::loadPCDFile("blob_ascii.pcd", cloud_blob_ascii_blob); | |
| cout << std::boolalpha << "ascii_blob : " | |
| << cloud_blob.data.size() << " = " << cloud_blob_ascii_blob.data.size() | |
| << " equal: " << (cloud_blob.data.size() == cloud_blob_ascii_blob.data.size()) | |
| << endl; | |
| exit(EXIT_SUCCESS); | |
| } |
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