一、下载安装

参考：
[1] PDAL：OSGeo4W安装配置测试PDAL
[2] 点云库PCL入门0：vs2019 配置pcl1.12.0

二、配置VS2019

右击项目——属性——配置属性

1. C/C++——常规——附加包含目录：添加

C:\OSGeo4W64\include

2. C/C++——预处理器——预处理器定义：添加

_CRT_SECURE_NO_DEPRECATE
_SCL_SECURE_NO_DEPRECATE

3. 链接器——常规——附加库目录：添加

C:\OSGeo4W64\lib

4. 链接器——输入——附加依懒项：添加

pdalcpp.lib
pdal_util.lib

如果与PCL一起使用，且用的是本博客的配库方法，则需要在环境中添加

C:\OSGeo4W64\bin

三、测试代码

   以下代码实现用PDAL读取las点云，使用PCL获取点云的xyz坐标并进行简单的可视化。就目前试用效果来看，PDAL对于中文路径的支持不太友好，但是与Qt结合使用则很完美；PDAL能够实现与PCL的完美结合；与Open3D一起使用会发生冲突（也可能是Open3D的编译问题）。

//#pragma execution_character_set("utf-8")//解决中文路径问题，但同时也会引入新问题
#include <iostream>
#include <memory>
#include <pdal/PointTable.hpp>
#include <pdal/PointView.hpp>
#include <pdal/io/LasReader.hpp>
#include <pdal/io/LasHeader.hpp>
#include <pdal/Options.hpp>
// PCL
#include <pcl/io/pcd_io.h>  
#include <pcl/point_types.h>  
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>using namespace std;int main()
{string fileName = "test.las";//中文路径可能报错pdal::Option las_opt("filename", fileName);//参数1："filename"（键）pdal::Options las_opts;las_opts.add(las_opt);pdal::PointTable table;pdal::LasReader las_reader;las_reader.setOptions(las_opts);las_reader.prepare(table);pdal::PointViewSet point_view_set = las_reader.execute(table);pdal::PointViewPtr point_view = *point_view_set.begin();pdal::Dimension::IdList dims = point_view->dims();pdal::LasHeader las_header = las_reader.header();double xmin = las_header.minX();double xmax = las_header.maxX();double deltaX = xmax - xmin;cout << "deltaX=" << fixed << setprecision(4) << deltaX << endl;double ymin = las_header.minY();double ymax = las_header.maxY();double deltaY = ymax - ymin;cout << "deltaY=" << fixed << setprecision(4) << deltaY << endl;double zmin = las_header.minZ();double zmax = las_header.maxZ();double deltaZ = zmax - zmin;cout << "deltaZ=" << fixed << setprecision(4) << deltaZ << endl;unsigned int n_features = las_header.pointCount();cout << "PointCount=" << n_features << endl;// 头文件信息unsigned int PointCount = las_header.pointCount();double scale_x = las_header.scaleX();double scale_y = las_header.scaleY();double scale_z = las_header.scaleZ();double offset_x = las_header.offsetX();double offset_y = las_header.offsetY();double offset_z = las_header.offsetZ();// 读取点的信息pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);cloud->points.resize(point_view->size());for (pdal::PointId id = 0; id < point_view->size(); ++id){double x = point_view->getFieldAs<double>(pdal::Dimension::Id::X, id);       // Xdouble y = point_view->getFieldAs<double>(pdal::Dimension::Id::Y, id);       // Ydouble z = point_view->getFieldAs<double>(pdal::Dimension::Id::Z, id);       // Zdouble red = point_view->getFieldAs<double>(pdal::Dimension::Id::Red, id);   // Rdouble green = point_view->getFieldAs<double>(pdal::Dimension::Id::Green, id);// Gdouble blue = point_view->getFieldAs<double>(pdal::Dimension::Id::Blue, id);  // Bdouble point_class = point_view->getFieldAs<double>(pdal::Dimension::Id::Classification, id);// 分类标签double GPSTime = point_view->getFieldAs<double>(pdal::Dimension::Id::GpsTime, id); // GPS时间auto Intensity= point_view->getFieldAs<double>(pdal::Dimension::Id::Intensity, id);// 强度// 获取xyz坐标保存进PCL点云容器cloud->points[id].x = x;cloud->points[id].y = y;cloud->points[id].z = z;}// -----------------------------------使用PCL进行简单可视化---------------------------------------------boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));viewer->setBackgroundColor(0, 0, 0);viewer->setWindowName("PDAL读点云PCL可视化");pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");while (!viewer->wasStopped()){viewer->spinOnce(100);boost::this_thread::sleep(boost::posix_time::microseconds(100000));}return 0;
}

参考：
[1] pdal读取.las文件(将las数据读取成XYZRGB格式)//las转txt
[2] PDAL库读写多种格式的点云

四、测试结果