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