点云的pcd、txt、ply之间的格式互转
1.新建一个文件夹,自命名
2.在新建文件夹中分别新建一个CMakeLists.txt文本文档,scr文件夹
3.在scr文件夹里新建pcd2txt.cpp、txt2pcd.cpp、pcd2ply.cpp、ply2pcd.cpp等cpp文件
各文档内容如下
(1)CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
set(CMAKE_BUILD_TYPE "Release")
# 添加c++ 11标准支持
set(CMAKE_CXX_FLAGS "-std=c++11 -O2")
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_executable (pcd2txt src/pcd2txt.cpp) #
target_link_libraries(pcd2txt ${PCL_LIBRARIES})
add_executable (txt2pcd src/txt2pcd.cpp) #
target_link_libraries(txt2pcd ${PCL_LIBRARIES})
add_executable (pcd2ply src/pcd2ply.cpp) #
target_link_libraries(pcd2ply ${PCL_LIBRARIES})
add_executable (ply2pcd src/ply2pcd.cpp) #
target_link_libraries(ply2pcd ${PCL_LIBRARIES})
(2).pcd2txt.cpp
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
using namespace std;
int main(int argc, char *argv[])
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the cloud data
if (pcl::io::loadPCDFile<pcl::PointXYZ>("map.pcd", *cloud) == -1)
{
PCL_ERROR("Couldn't read file chuli.pcd\n");
return (-1);
}
//for (size_t i = 0; i < cloud->points.size(); i++)
// std::cout << " " << cloud->points[i].x << " " << cloud->points[i].y
// <<" "<< cloud->points[i].z << std::endl;
int Num = cloud->points.size();
double *X = new double[Num] {0};
double *Y = new double[Num] {0};
double *Z = new double[Num] {0};
for (size_t i = 0; i < cloud->points.size(); ++i)
{
X[i] = cloud->points[i].x;
Y[i] = cloud->points[i].y;
Z[i] = cloud->points[i].z;
}
ofstream zos("pcd2txt.txt");
for (int i = 0; i<Num; i++)
{
zos << X[i] << " " << Y[i] << " " << Z[i] << endl;
}
cout << "trans has done!!!" << endl;
cin.get();
return 0;
}
(3)txt2pcd**
#include<iostream>
#include<fstream>
#include <string>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
int main()
{
typedef struct tagPOINT_3D
{
double x; //mm world coordinate x
double y; //mm world coordinate y
double z; //mm world coordinate z
double r;
}POINT_WORLD;
//加载txt数据
int number_Txt;
FILE *fp_txt;
tagPOINT_3D TxtPoint;
vector<tagPOINT_3D> m_vTxtPoints;
fp_txt = fopen("pcd2txt.txt", "r");
if (fp_txt)
{
while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF)
{
m_vTxtPoints.push_back(TxtPoint);
}
}
else
cout << "txt数据加载失败!" << endl;
number_Txt = m_vTxtPoints.size();
//pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the cloud data
cloud->width = number_Txt;
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 = m_vTxtPoints[i].x;
cloud->points[i].y = m_vTxtPoints[i].y;
cloud->points[i].z = m_vTxtPoints[i].z;
}
pcl::io::savePCDFileASCII("map1.pcd", *cloud);
std::cerr << "Saved " << cloud->points.size() << " data points to txt2pcd.pcd." << std::endl;
//for (size_t i = 0; i < cloud.points.size(); ++i)
// std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
//PCL Visualizer
// Viewer
pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
viewer.addPointCloud(cloud);
viewer.setBackgroundColor(1, 0.5, 1);
viewer.spin();
system("pause");
return 0;
}
(4)pcd2ply**
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/pcd_io.h>
int main(int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 读取点云
if (pcl::io::loadPCDFile<pcl::PointXYZ>("map.pcd", *cloud) == -1)
{
PCL_ERROR("Are you sure you are right?\n");
return (-1);
}
pcl::PLYWriter writer;
writer.write("map.ply", *cloud);
return (0);
}
(5)ply2pcd**
#include <iostream>
#include <pcl/io/pcd_io.h> // pcd相关头文件
#include <pcl/point_types.h> // 所有点类型定义头文件
#include <pcl/io/ply_io.h> // ply类相关头文件
int main(int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
//加载文件
if (pcl::io::loadPLYFile<pcl::PointXYZ>("map.ply", *cloud) == -1)
{
PCL_ERROR("就你输入的那些渣渣,你TM确定能读取成功? \n");
return (-1);
}
// 输出点的个数
std::cout << "point number: " << cloud->width * cloud->height << std::endl;
pcl::PCDWriter writer;
writer.write("map.pcd", *cloud); //保存文件
return (0);
}
最后新建build文件,编译运行