PCL点云处理之批量读写点云、随机赋予颜色 并保存

#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include<pcl/visualization/pcl_visualizer.h>
#include <stdlib.h>
#include <time.h>
using namespace std;
using namespace Eigen;

struct vecrgb
{
	double r;
	double g;
	double b;
};
int main()
{
	//循环读取多个点云数据
	int num = 50;//你有几个这里就改成几个
	std::vector<   pcl::PointCloud<pcl::PointXYZ>::Ptr   > clouds;
	for (int i = 0; i < num; i++)
	{
		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
		pcl::PCDReader reader;
		std::stringstream s;
		s <<  i << ".pcd";//这里文件名改成你自己的那些文件名
		reader.read(s.str(), *cloud);
		clouds.push_back(cloud);
	}
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

	int r, g, b = 0;
	for (int it = 0; it < clouds.size(); it++)
	{
		//逐个点集赋色
		r = rand() % 255;
		g = rand() % 255;
		b = rand() % 255;
		pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_cluster(new pcl::PointCloud<pcl::PointXYZRGB>);

        for (int pit = 0; pit < clouds[it]->size(); pit++)
		{
			pcl::PointXYZRGB point;
			point.x = clouds[it]->points[pit].x;
			point.y = clouds[it]->points[pit].y;
			point.z = clouds[it]->points[pit].z;
			point.r = r;
			point.g = g;
			point.b = b;
			cloud_cluster->points.push_back(point);
           
		}
		cloud_cluster->width = cloud_cluster->points.size(); 
		cloud_cluster->height = 1;
		cloud_cluster->is_dense = true;
         *cloud+=*cloud_cluster;
		//点云多次输出
	}
	pcl::io::savePCDFileASCII("spline.pcd", *cloud);

	std::system("pause");//防止控制台窗口一闪而过
	return (0);
}