1 unstable release
0.1.4 | Apr 13, 2024 |
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0.1.3 |
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0.1.2 |
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0.1.1 |
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0.1.0 |
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#449 in Math
700KB
238 lines
pcl_rs
A pure rust PCL tool that includes functions such as reading PCD files and displaying point clouds, which can be used in conjunction with ros_pointcloud2
Features
- Read PointCloud From PCD File
src/io/io_read.rs
=>load_from_pcd
- Visualize PointCloud
Implement types::type_traits::Point3DVisible trait
=>impl Point3DVisible for PointXYZ
src/visual/point_cloud_viewer.rs
=>Use Struct CloudViewer
- PointCloud KNN Search
src/search/search_kdtree.rs
=>Use Struct KdtreeSearch
PointCloud Visualization
Usage
use ros_pointcloud2::pcl_utils::{PointXYZ,PointXYZI,PointXYZRGB,PointXYZRGBA,PointXYZRGBNormal,PointXYZINormal,PointXYZL,PointXYZRGBL,PointXYZNormal};
use pcl_rs::io::load_from_pcd;
use pcl_rs::visual::CloudViewer;
fn main() {
let cloud1 = load_from_pcd::<PointXYZ>("/home/xxx/scan3.pcd").unwrap(); //(**Only ASCII Format Now**)
let cloud2 = load_from_pcd::<PointXYZRGB>("/home/xxx/line_cloud_0.pcd").unwrap();
let mut cloud_viewer = CloudViewer::new("test");
let mut kd_tree = KdtreeSearch::new();
kd_tree.set_input_cloud(&cloud1);
let point = cloud1.points.get(250).unwrap();
let res = kd_tree.search_by_k(point, 3,1.0);
for (distance,index) in &res{
println!("{:?}",distance);
println!("{:?}",index);
println!("{:?}",cloud1.points.get(*index).unwrap());
}
cloud_viewer.add_cloud(&cloud1);
println!("{:?}",cloud1.size());
cloud_viewer.show();
}
Road Map
- Read PointCloud From PCD File(Only ASCII Format Now)
- Read PointCloud From More Format File
- KNN Search
- ICP
Dependencies
~18MB
~323K SLoC