#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 ;

 }