目录
cmake代码
cmake_minimum_required(VERSION 3.17)
project(TEST2)
set(CMAKE_CXX_STANDARD 14)
# Find PCL
find_package(PCL 1.8 REQUIRED)
# If PCL was found, add its include directories to the project
if(PCL_FOUND)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
else()
message(FATAL_ERROR "PCL not found.")
endif()
add_executable(TEST2 main.cpp)
# Link PCL libraries to the project
target_link_libraries(TEST2 ${PCL_LIBRARIES})
代码
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <fstream>
#include <iostream>
#include <vector>
int main() {
// Define file paths
std::string input_filename = "/home/fairlee/KITTI/2011_09_26_drive_0011_sync/velodyne_points/data/0000000000.bin";
std::string output_filename = "/home/fairlee/KITTI/2011_09_26_drive_0011_sync/velodyne_points/data/0000000000.pcd";
// Open the binary file
std::ifstream input_file(input_filename, std::ios::binary);
if (!input_file.good()) {
std::cerr << "Error: Could not read file: " << input_filename << std::endl;
return -1;
}
// Define point cloud object
pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(new pcl::PointCloud<pcl::PointXYZI>);
// Read points from bin file
int i = 0;
while (input_file.good() && !input_file.eof()) {
pcl::PointXYZI point;
input_file.read(reinterpret_cast<char*>(&point.x), sizeof(float));
input_file.read(reinterpret_cast<char*>(&point.y), sizeof(float));
input_file.read(reinterpret_cast<char*>(&point.z), sizeof(float));
input_file.read(reinterpret_cast<char*>(&point.intensity), sizeof(float));
point_cloud->points.push_back(point);
i++;
}
input_file.close();
// Set additional point cloud properties
point_cloud->width = i;
point_cloud->height = 1; // 1 for unorganized point cloud
point_cloud->is_dense = true;
// Save the point cloud to a PCD file
pcl::io::savePCDFileASCII(output_filename, *point_cloud);
std::cerr << "Saved " << point_cloud->points.size() << " data points to " << output_filename << std::endl;
return 0;
}