TXT/XYZ文件转为PCD并可视化

可视化部分配置了PCL1.10.0环境

将txt/xyz文件放在项目文件夹中
对于不方便的地方可自行修改。

#include<iostream>
#include<fstream>
#include<vector>
#include<string>
#include<pcl\io\pcd_io.h>
#include<pcl\point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>

using namespace std;

int main()
{
	//定义一种类型表示TXT中xyz
	typedef struct TXT_Point_XYZ
	{
		double x;
		double y;
		double z;
	}TOPOINT_XYZ;

	//读取txt文件
	int num_txt;
	FILE* fp_txt;
	TXT_Point_XYZ txt_points;
	vector<TXT_Point_XYZ> my_vTxtPoints;
	fp_txt = fopen("2d-4c-no9.txt", "r");

	if (fp_txt)
	{
		while (fscanf(fp_txt, "%lf,%lf,%lf", &txt_points.x, &txt_points.y, &txt_points.z) != EOF)//文件中坐标用逗号分开
		//while (fscanf(fp_txt, "%lf %lf %lf", &txt_points.x, &txt_points.y, &txt_points.z) != EOF)//文件中坐标用空格分开
		{
			my_vTxtPoints.push_back(txt_points);
		}
	}
	else
		cout << "读取txt文件失败" << endl;

	num_txt = my_vTxtPoints.size();
	
	//写入点云数据
	pcl::PointCloud<pcl::PointXYZ> ::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	cloud->width = num_txt;
	cloud->height = 1;
	cloud->is_dense = false;
	cloud->points.resize(cloud->width * cloud->height);
	for (int i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = my_vTxtPoints[i].x;
		cloud->points[i].y = my_vTxtPoints[i].y;
		cloud->points[i].z = my_vTxtPoints[i].z;
	}
	pcl::io::savePCDFileASCII("test_pcd.pcd", *cloud);
	cout << "从 txt_pcd.txt读取" << cloud->points.size() << "点写入txt_pcd.pcd" << endl;

    //可视化
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_pcd(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("test_pcd.pcd", *cloud_pcd);
	pcl::visualization::CloudViewer viewer("cloud viewer");
	viewer.showCloud(cloud_pcd);
	while (!viewer.wasStopped())
	{
	}
	return 0;
}

参考：https://blog.csdn.net/qq_42570058/article/details/82989794