点云pcd文件与txt转化

PCD->txt

void BaseMeasure::pcd2txt(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud, char *filename)
{
	FILE* wc = fopen(filename, "w");

	int sizepcd = cloud->points.size();
	for (int i = 0; i < sizepcd; i++)
	{
		//fprintf(stdout, "%f\t%f\t%f\n", cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);  \t 相当于空格
		fprintf(wc, "%f\t%f\t%f\n", cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);  //标准输出流   stdio.h   写
	}

	fclose(wc);
}

txt->PCD

pcl::PointCloud<pcl::PointXYZ>::Ptr BaseMeasure::readCloudTxt(char* Filename)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
	ifstream Points_in(Filename);
	pcl::PointXYZ tmpoint;
	if (Points_in.is_open())
	{
		while (!Points_in.eof())   //尚未到达文件结尾
		{
			Points_in >> tmpoint.x >> tmpoint.y >> tmpoint.z;
			basic_cloud_ptr->points.push_back(tmpoint);
		}
	}
	basic_cloud_ptr->width = (int)basic_cloud_ptr->points.size();
	basic_cloud_ptr->height = 1;

	return basic_cloud_ptr;
}