pcl 点云格式txt转pcd

0.写在前面

由于扫描仪设备软件采集到的数据转化后是txt的，所以将它转成pcd,这里提供一种写法

1.主要思路

通过构造pcl::PointCloud的对象cloud，从txt的空间坐标中读取数据，对这个cloud中的每个点赋值。

2.main.cpp

#include <iostream>
#include <fstream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <vector>
#include <string>
using namespace std;
typedef struct txtPoint_3D{
    double x;
    double y;
    double z;
    //double r;
}txtPoint_3D;

void GetFileNames(string path,vector<string>& filenames, string con);
void txt2pcd(string readPath, string savePath);

int main (int argc, char** argv)
{
    if(argc != 3)
    {
        cerr<<"输入参数数量不对!"<<endl;
        exit(1);
    }
    //输入输出路径
    string input_dir = argv[1];
    string output_dir = argv[2];

    //输入输出格式
//    string in_format = "scanf";
//    string out_format = "scanf";

    //获取文件
    vector<string> filenames;
    string con = ".txt";
    GetFileNames(input_dir, filenames, con);

    vector<string>::iterator it;
    for (it=filenames.begin(); it!=filenames.end(); it++)
    {
        string tmp = *it;
        string input_filename = input_dir + tmp + ".txt";
        //string name = tmp.substr(0, tmp.find("."));//去除文件格式
        string output_filename = output_dir + tmp + ".pcd";
        cout<<"input_filename:"<<input_filename<<endl;
        cout<<"output_filename:"<<output_filename<<endl;
        txt2pcd(input_filename, output_filename);
    }
    //txt2pcd(input_filename, output_filename);

    cout<<"点云格式转换完成"<<endl;
    return (0);
}

void GetFileNames(string path,vector<string>& filenames, string con)
{
    DIR *pDir;
    struct dirent* ptr;
    string filename, format, name;

    if(!(pDir = opendir(path.c_str())))
        return;

    while((ptr = readdir(pDir))!=0) {
        //跳过.和..文件
        if(strcmp(ptr->d_name, ".") == 0 || strcmp(ptr->d_name, "..") == 0)
            continue;
        filename = ptr->d_name;
        format = filename.substr(filename.find("."), filename.length());
        name = filename.substr(0, filename.find("."));
        //cout<<format<<endl;
        //cout<<name<<endl;
        if(format == con)//也可以添加对文件名的要求
            filenames.push_back(name);
        //filenames.push_back(filename);
    }
    closedir(pDir);
    sort(filenames.begin(), filenames.end());
//    sort(filenames.begin(), filenames.end(), [](string a, string b){
//        return stoi(a) < stoi(b);
//    });
}

void txt2pcd(string readPath, string savePath){

    FILE *fp_txt;
    txtPoint_3D txtPoint;
    vector<txtPoint_3D> txtPoints;
    fp_txt = fopen(readPath.c_str(),"r");

    if (fp_txt == NULL){
        cerr<<"open error!"<<endl;
    }

    while (fscanf(fp_txt, "%lf;%lf;%lf", &txtPoint.x, &txtPoint.y, &txtPoint.z) != EOF){
        //cout<<txtPoint.x<<" "<<txtPoint.y<<" "<<txtPoint.z<<endl;
        txtPoints.push_back(txtPoint);
    }

    //cout<<"cloud size:"<<txtPoints.size()<<endl;

    pcl::PointCloud<pcl::PointXYZ> cloud;

    cloud.width = txtPoints.size();
    cloud.height = 1;
    cloud.is_dense = false;
    cloud.points.resize(cloud.width * cloud.height);

    for (size_t i = 0; i < cloud.points.size(); ++i){
        cloud.points[i].x = txtPoints[i].x;
        cloud.points[i].y = txtPoints[i].y;
        cloud.points[i].z = txtPoints[i].z;
    }
    pcl::io::savePCDFileASCII(savePath,cloud);

    std::cout << "Saved " << cloud.points.size () << " data points" << std::endl;
}

3.CMakeList.txt

cmake_minimum_required(VERSION 2.8)

project(txt2pcd)

set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
# pcl
find_package( PCL REQUIRED )
include_directories( ${PCL_INCLUDE_DIRS} )
add_definitions( ${PCL_DEFINITIONS} )
list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

add_executable(main "main.cpp")
target_link_libraries( main ${PCL_LIBRARIES} )

参考
https://pcl.readthedocs.io/projects/tutorials/en/latest/writing_pcd.html#writing-pcd