点云pcd与txt之间的转换

#define _CRT_SECURE_NO_DEPRECATE #define _CRT_SECURE_NO_WARNINGS #include <stdio.h> #include <stdlib.h> #include <iostream> #include <pcl/point_cloud.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/io/io.h> #include <cstdlib> #include <vector> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> using namespace std; int numofPoints(char* fname){ int n = 0; int c = 0; FILE *fp; fp = fopen(fname, "r"); do{ c = fgetc(fp); if (c == '\n'){ ++n; } } while (c != EOF); fclose(fp); return n; } int main() { int num = 0; //n用来计文件中点个数 FILE *fp_1; fp_1 = fopen("C:\\Users\\Desktop\\xzydata0921\\001xyz.txt", "r"); num = numofPoints("C:\\Users\\Desktop\\xzydata0921\\001xyz.txt"); //使用numofPoints函数计算文件中点个数 std::cout << "there are " << num << " points in the file..." << std::endl; //新建一个点云文件，然后将结构中获取的xyz值传递到点云指针cloud中。 pcl::PointCloud<pcl::PointXYZ> pcdcloud; pcdcloud.width = num; pcdcloud.height = 1; pcdcloud.is_dense = false; pcdcloud.points.resize(pcdcloud.width * pcdcloud.height); //将点云读入并赋给新建点云指针的xyz double x, y, z, a, b, c, l; int i = 0; while (3 == fscanf(fp_1, "%lf %lf %lf\n", &x, &y, &z)){ //XYZ文件 //while (7 == fscanf(fp_1, "%lf %lf %lf %lf %lf %lf %lf\n", &x, &y, &z, &a, &b, &c, &l)){ //XYZRGBI文件 cout << x << " " << y << " " << z << endl; pcdcloud.points[i].x = x; pcdcloud.points[i].y = y; pcdcloud.points[i].z = z; ++i; if (i >= num) { break; } } fclose(fp_1); //将点云指针指向的内容传给pcd文件 pcl::io::savePCDFileASCII("C:\\Users\\Desktop\\xzydata0921\\result\\001xyz.pcd", pcdcloud); std::cerr << "Saved " << cloud.points.size() << " data points to test_pcd.pcd." << std::endl; return 0; }