基于pcl 和 liblas 库 las与pcd格式（rgb点）相互转换（win10 VS2013 X64环境 ）

 #include <liblas/liblas.hpp>
 #include <iomanip>
 #include <iostream>
 #include <sstream>
 #include <cmath>
 #include <pcl/point_cloud.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 #include <pcl/visualization/pcl_visualizer.h>

 //  实现Unshort转为Unchar类型
 //int Unshort2Unchar(uint16_t &green, uint8_t &g)
 //{
 //    unsigned short * word;
 //    word = &green;
 //    int size = WideCharToMultiByte(CP_ACP, 0, LPCWSTR(word), -1, NULL, 0, NULL, FALSE);
 //    char *AsciiBuff=new char[size];
 //    WideCharToMultiByte(CP_ACP, 0, LPCWSTR(word), -1, AsciiBuff, size, NULL, FALSE);
 //    g = *AsciiBuff;
 //
 //    delete[] AsciiBuff;
 //    AsciiBuff = NULL;
 //    return 0;
 //}

 void writePointCloudFromLas(const char* strInputLasName, const char* strOutPutPointCloudName)
 {
     //打开las文件
     std::ifstream ifs;
     ifs.open(strInputLasName, std::ios::in | std::ios::binary);
     if (!ifs.is_open())
     {
         std::cout << "无法打开.las" << std::endl;
         return;
     }
     liblas::ReaderFactory readerFactory;
     liblas::Reader reader = readerFactory.CreateWithStream(ifs);
     //写点云
     pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOutput(new pcl::PointCloud<pcl::PointXYZRGBA>());
     cloudOutput->clear();
     while (reader.ReadNextPoint())
     {
         double x = reader.GetPoint().GetX();
         double y = reader.GetPoint().GetY();
         double z = reader.GetPoint().GetZ();
         uint16_t red = reader.GetPoint().GetColor()[];
         uint16_t green = reader.GetPoint().GetColor()[];
         uint16_t blue = reader.GetPoint().GetColor()[];

         /*****颜色说明
         *   uint16_t  范围为0-256*256 ；
         *   pcl 中 R  G  B利用的unsigned char  0-256；
         *   因此这里将uint16_t 除以256  得到  三位数的0-256的值
         *   从而进行rgba 值32位 的位运算。
         *
         ******/

         pcl::PointXYZRGBA thePt;  //int rgba = 255<<24 | ((int)r) << 16 | ((int)g) << 8 | ((int)b);
         thePt.x = x; thePt.y = y; thePt.z = z;
         thePt.rgba = (uint32_t) <<  | (uint32_t)(red / ) <<  | (uint32_t)(green / ) <<  | (uint32_t)(blue / );
             //uint32_t rgb = *reinterpret_cast<int*>(&thePt.rgb);  //reinterpret_cast 强制转换
         cloudOutput->push_back(thePt);
     }

     //boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
     //viewer->setBackgroundColor(0, 0, 0); //设置背景
     //viewer->addPointCloud(cloudOutput,"cloudssd");
     //while (!viewer->wasStopped()){
     //    viewer->spinOnce();
     //}
     pcl::io::savePCDFileASCII(strOutPutPointCloudName, *cloudOutput);
     cloudOutput->clear();
 }

 //读入点云，写.las

 void writeLasFromPointCloud3(const char* strInputPointCloudName, const char* strOutLasName)
 {
     std::ofstream ofs(strOutLasName, ios::out | ios::binary);
     if (!ofs.is_open())
     {
         std::cout << "err  to  open  file  las....." << std::endl;
         return;
     }
     liblas::Header header;
     header.SetVersionMajor();
     header.SetVersionMinor();
     header.SetDataFormatId(liblas::PointFormatName::ePointFormat3);
     header.SetScale(0.001, 0.001, 0.001);

     pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
     pcl::io::loadPCDFile(strInputPointCloudName, *cloud);
     std::cout << "总数:" << cloud->points.size() << std::endl;
     //写liblas,
     liblas::Writer writer(ofs, header);
     liblas::Point point(&header);

     for (size_t i = ; i < cloud->points.size(); i++)
     {
         double x = cloud->points[i].x;
         double y = cloud->points[i].y;
         double z = cloud->points[i].z;
         point.SetCoordinates(x, y, z);

         uint32_t red = (uint32_t)cloud->points[i].r;
         uint32_t green = (uint32_t)cloud->points[i].g;
         uint32_t blue = (uint32_t)cloud->points[i].b;
         liblas::Color pointColor(red, green, blue);
         point.SetColor(pointColor);
         writer.WritePoint(point);
         //std::cout << x << "," << y << "," << z << std::endl;
     }
     double minPt[] = { , ,  };
     double maxPt[] = { , ,  };
     header.SetPointRecordsCount(cloud->points.size());
     header.SetPointRecordsByReturnCount(, cloud->points.size());
     header.SetMax(maxPt[], maxPt[], maxPt[]);
     header.SetMin(minPt[], minPt[], minPt[]);
     writer.SetHeader(header);
 }

 int main()
 {
     //char strInputLasName[] = "qq.las";//"Scan_az001.las";
     //char strOutPutPointCloudName[]="qqqq.pcd";
     //writePointCloudFromLas(strInputLasName, strOutPutPointCloudName);

     //std::string strInputPointCloudName = "eewge";
     //std::string strOutLasName = "eewge";
     //writeLasFromPointCloud(strInputPointCloudName.c_str(), strOutLasName.c_str());
     char strInputPointCloudName[] = "qq.pcd";
     char strOutLasName[] = "qq.las";
     writeLasFromPointCloud3(strInputPointCloudName, strOutLasName);

     return ;
 }