create

.gitignore

+############################################################
+# Visual Studio - Start
+############################################################
+
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+
+# User-specific files
+.vscode
\ No newline at end of file

CMakeLists.txt

+cmake_minimum_required(VERSION 3.18.0)
+
+string(TIMESTAMP TIME %Y%m%d%H)
+project(formatconverter VERSION 0.0.1.${TIME})
+
+IF(MSVC)
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP /utf-8")
+  # disable macros that offend std::numeric_limits<T>::min()/max()
+  # ADD_DEFINITIONS(-DNOMINMAX)
+ENDIF(MSVC)
+
+add_subdirectory(src)
\ No newline at end of file

src/CMakeLists.txt

+
+add_subdirectory(convertor)
+add_subdirectory(convert)
\ No newline at end of file

src/convert/CMakeLists.txt

+string(TIMESTAMP TIME %Y%m%d%H)
+project(jfhdconvert VERSION 0.0.1.${TIME})
+
+add_definitions(-DCONVERT_EXPORT)
+
+find_package(PDAL REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common io)
+
+file(GLOB_RECURSE INC_FILES *.h *.hpp)
+file(GLOB_RECURSE SRC_FILES *.cpp)
+
+add_library(${PROJECT_NAME} SHARED ${INC_FILES} ${SRC_FILES})
+
+target_include_directories(${PROJECT_NAME}  
+    PUBLIC $<BUILD_INTERFACE:${PCL_INCLUDE_DIRS}>
+    PRIVATE $<INSTALL_INTERFACE:${PCL_INCLUDE_DIRS}> 
+)
+
+target_link_libraries(${PROJECT_NAME}
+    PRIVATE ${PCL_LIBRARIES}
+    PRIVATE pdalcpp pdal_util pdal_arbiter pdal_kazhdan
+)
+
+#安装相关的命令
+
+
+

src/convert/convertor.cpp

+#include "convertor.h"
+
+#include <corecrt_io.h>
+// pcl
+#include <pcl/io/pcd_io.h> 
+#include <pcl/point_types.h>
+#include <pcl/PCLPointCloud2.h>
+
+// pdal
+#include <pdal/PointTable.hpp>
+#include <pdal/PointView.hpp>
+#include <pdal/Options.hpp>
+#include <pdal/io/BufferReader.hpp>
+#include <pdal/StageFactory.hpp>
+#include <pdal/Dimension.hpp>
+
+// stl
+#include <unordered_map>
+
+
+pdal::Dimension::Type GetLasDimDataType(const pcl::PCLPointField& field)
+{
+	switch (field.datatype) {
+	case pcl::PCLPointField::INT8:
+	{
+		return pdal::Dimension::Type::Signed8;
+	}break;
+	case pcl::PCLPointField::UINT8:
+	{
+		return pdal::Dimension::Type::Unsigned8;
+	}break;
+	case pcl::PCLPointField::INT16:
+	{
+		return pdal::Dimension::Type::Signed16;
+
+	}break;
+	case pcl::PCLPointField::UINT16:
+	{
+		return pdal::Dimension::Type::Unsigned16;
+	}break;
+	case pcl::PCLPointField::INT32:
+	{
+		return pdal::Dimension::Type::Signed32;
+	}break;
+	case pcl::PCLPointField::UINT32:
+	{
+		return pdal::Dimension::Type::Unsigned32;
+	}break;
+	case pcl::PCLPointField::FLOAT32:
+	{
+		return pdal::Dimension::Type::Float;
+	}break;
+	case pcl::PCLPointField::FLOAT64:
+	{
+		return pdal::Dimension::Type::Double;
+	}break;
+	default:
+		return pdal::Dimension::Type::None;
+	}
+}
+
+std::unordered_map<std::string, pdal::Dimension::Id> GetLasdimidFromPcdFields(const std::vector<::pcl::PCLPointField>& pcdfields, pdal::PointLayoutPtr layerout)
+{
+	std::unordered_map<std::string, pdal::Dimension::Id> dict;
+	for (auto field : pcdfields)
+	{
+		if (0 == field.name.compare("_"))
+			continue;
+
+		auto dimdatatype = GetLasDimDataType(field);
+		if (pdal::Dimension::Type::None == dimdatatype)
+		{
+			// TODO::
+			continue;
+		}
+
+		pdal::Dimension::Id dim = pdal::Dimension::id(field.name);
+		if (pdal::Dimension::Id::Unknown != dim)
+		{
+			layerout->registerDim(dim);
+		}
+		else
+		{
+			dim = layerout->assignDim(field.name, dimdatatype);
+		}
+
+		dict.emplace(std::make_pair(field.name, dim));
+	}
+
+	return dict;
+}
+
+void PcdPoint2LasPoint(const std::uint8_t* msg_data, const std::vector<::pcl::PCLPointField>& pcdfields,
+	const std::unordered_map<std::string, pdal::Dimension::Id>& pcdfieldname2lasdimid,
+	const jfhd::convert::Pcd2LasInfo& info, std::uint64_t las_pointid, pdal::PointViewPtr view)
+{
+	for (const auto& item : pcdfields)
+	{
+		auto it = pcdfieldname2lasdimid.find(item.name);
+		if (pcdfieldname2lasdimid.end() == it)
+			continue;
+
+		switch (item.datatype) {
+		case pcl::PCLPointField::INT8: {
+			pcl::traits::asType<pcl::PCLPointField::INT8>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			view->setField(it->second, las_pointid, val);
+		}break;
+		case pcl::PCLPointField::UINT8: {
+			pcl::traits::asType<pcl::PCLPointField::UINT8>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			view->setField(it->second, las_pointid, val);
+		}break;
+		case pcl::PCLPointField::INT16: {
+			pcl::traits::asType<pcl::PCLPointField::INT16>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			view->setField(it->second, las_pointid, val);
+		}break;
+		case pcl::PCLPointField::UINT16: {
+			pcl::traits::asType<pcl::PCLPointField::UINT16>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			view->setField(it->second, las_pointid, val);
+		}break;
+		case pcl::PCLPointField::INT32: {
+			pcl::traits::asType<pcl::PCLPointField::INT32>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			view->setField(it->second, las_pointid, val);
+		}break;
+		case pcl::PCLPointField::UINT32: {
+			pcl::traits::asType<pcl::PCLPointField::UINT32>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			view->setField(it->second, las_pointid, val);
+		}break;
+		case pcl::PCLPointField::FLOAT32: {
+			pcl::traits::asType<pcl::PCLPointField::FLOAT32>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			// TODO: 判断x，y，z 进行加减
+			if (it->second == pdal::Dimension::Id::X)
+			{
+				double x = val;
+				x += info.offsetx;
+				view->setField(it->second, las_pointid, x);
+			}
+			else if(it->second == pdal::Dimension::Id::Y)
+			{
+				double y = val;
+				y += info.offsety;
+				view->setField(it->second, las_pointid, y);
+			}
+			else if(it->second == pdal::Dimension::Id::Z)
+			{
+				double z = val;
+				z += info.offsetz;
+				view->setField(it->second, las_pointid, z);
+			}
+			else
+			{
+				view->setField(it->second, las_pointid, val);
+			}
+		}break;
+		case pcl::PCLPointField::FLOAT64: {
+			pcl::traits::asType<pcl::PCLPointField::FLOAT64>::type val;
+			memcpy(&val, msg_data + item.offset, sizeof(val));
+			view->setField(it->second, las_pointid, val);
+		}break;
+		default:
+			break;
+		}
+	}
+}
+
+namespace jfhd {
+	namespace convert {
+
+		Convertor::Convertor()
+		{
+		}
+
+		Convertor::~Convertor()
+		{
+		}
+
+		bool Convertor::Pcd2Las(const std::string& pcdfilepath, std::string& lasfilepath, const Pcd2LasInfo& info, std::string* errormsg)
+		{
+			//std::string pcdfilepath{ "E:/data/jd/task1-2/1106/JF_PCD/12_ground_utm_add.pcd" };
+			Eigen::Vector4f origin;
+			Eigen::Quaternionf orientation;
+			pcl::PCLPointCloud2 pcloud; 
+			if (0 != pcl::io::loadPCDFile(pcdfilepath, pcloud, origin, orientation))
+			{
+				std::stringstream ss;
+				ss << "open pcd[<< " << pcdfilepath << "]failed";
+				*errormsg = ss.str();
+				return false;
+			}
+
+			// pcd field 变换到 las的dim
+			pdal::PointTable table;
+			auto layerout = table.layout();
+			std::unordered_map<std::string, pdal::Dimension::Id>
+				dict_pclfieldname_lasid = GetLasdimidFromPcdFields(pcloud.fields, table.layout());
+
+			pdal::PointViewPtr view(new pdal::PointView(table));
+			std::uint64_t width = pcloud.width;
+			std::uint64_t height = pcloud.height;
+			std::uint64_t point_count = width * height;
+			std::uint64_t point_step = pcloud.point_step;
+
+			std::uint64_t point_index = 0;
+
+			for (std::uint64_t row = 0; row < height; ++row)
+			{
+				const std::uint8_t* row_data = &pcloud.data[row * pcloud.row_step];
+				for (std::uint32_t col = 0; col < pcloud.width; ++col)
+				{
+					//std::cout << point_index << ":";
+					const std::uint8_t* msg_data = row_data + col * point_step;
+
+					PcdPoint2LasPoint(msg_data, pcloud.fields, dict_pclfieldname_lasid, info, point_index, view);
+
+					++point_index;
+
+					//std::cout << std::endl;
+				}
+			}
+
+			//std::string lasfilepath{ "E:/data/jd/task1-2/1106/JF_PCD/12_ground_utm_add_myself.las" };
+			pdal::Options las_options;
+			las_options.add("filename", lasfilepath);
+			las_options.add("extra_dims", "all");
+			las_options.add("scale_x", 1.0e-5);
+			las_options.add("scale_y", 1.0e-5);
+			las_options.add("scale_z", 1.0e-5);
+			pdal::Uuid uuid;
+			uuid.parse("C8DED732-F71F-44D7-A62E-24F7F8A43E69");
+			las_options.add("project_id", uuid);
+
+			pdal::BufferReader bufferreader;
+			bufferreader.addView(view);
+
+			pdal::StageFactory factory;
+			pdal::Stage* writer = factory.createStage("writers.las");
+			writer->setOptions(las_options);
+			writer->setInput(bufferreader);
+			writer->prepare(table);
+
+			pdal::PointViewSet pointviewset = writer->execute(table);
+			if (pointviewset.size() > 0)
+			{
+				return true;
+			}
+			else
+			{
+				return false;
+			}
+		}
+	}
+}
+

src/convert/convertor.h

+#ifndef JF_HD_CONVERT_SWITH_H_
+#define JF_HD_CONVERT_SWITH_H_
+#include <string>
+#include "export.h"
+
+namespace jfhd {
+	namespace convert {
+
+		struct CONVERT_API Pcd2LasInfo
+		{
+			double offsetx = 0.0;
+			double offsety = 0.0;
+			double offsetz = 0.0;
+		};
+
+		class CONVERT_API Convertor
+		{
+		public:
+			Convertor();
+			~Convertor();
+
+			static bool Pcd2Las(const std::string& pcdfilepath, std::string& lasfilepath, const Pcd2LasInfo& info, std::string* errormsg);
+		};
+	}
+}
+
+#endif // !JF_HD_CONVERT_SWITH_H_

src/convert/export.h

+#ifndef JF_HD_CONVERT_EXPORT_H_
+#define JF_HD_CONVERT_EXPORT_H_
+
+#ifdef CONVERT_EXPORT
+#if defined(_MSC_VER)
+#define CONVERT_API __declspec(dllexport)
+#endif
+
+#if (__GNUC__ >= 4) && !defined(_MSC_VER)
+#define CONVERT_API __attribute__((visibility("default")))
+//#define DLL_LOCAL  __attribute__ ((visibility("hidden")))
+#endif
+
+#if(__GNUC__ < 4) && !defined(_MSC_VER)
+#define CONVERT_API
+#endif // #if (__GNUC__ >= 4)
+
+#else
+#if defined(_MSC_VER)
+#define CONVERT_API __declspec(dllimport)
+#endif
+
+#if (__GNUC__ >= 4) && !defined(_MSC_VER)
+#define CONVERT_API __attribute__((visibility("default")))
+//#define DLL_LOCAL  __attribute__ ((visibility("hidden")))
+#endif
+
+#if(__GNUC__ < 4) && !defined(_MSC_VER)
+#define CONVERT_API 
+#endif // #if (__GNUC__ >= 4)
+
+#endif// #ifdef CONVERT_EXPORT
+
+#endif // #ifndef JF_HD_CONVERT_EXPORT_H_

src/convertor/CMakeLists.txt

+
+string(TIMESTAMP TIME %Y%m%d%H)
+project(jfhdconvertor VERSION 0.0.1.${TIME})
+
+find_package(cxxopts REQUIRED)
+
+
+find_package(PDAL REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common io)
+
+file(GLOB_RECURSE INC_FILES *.h *.hpp)
+file(GLOB_RECURSE SRC_FILES *.cpp)
+
+add_executable(${PROJECT_NAME} ${INC_FILES} ${SRC_FILES})
+
+target_link_libraries(${PROJECT_NAME}
+	PRIVATE jfhdconvert
+    PRIVATE ${PCL_LIBRARIES}
+    PRIVATE pdalcpp pdal_util pdal_arbiter pdal_kazhdan
+)
+
+# install cmd
+