bin_to_pcd
系统环境:Ubuntu16.04
整体结构如下:src放.cpp,bin放velodyne点云,pcd放转换后的文件
好久没写过CMakeLists了,复习一下
cmake_minimum_required(VERSION 2.8.3)
project(bin_to_pcd)
find_package(catkin REQUIRED COMPONENTS
pcl_ros
roscpp
)
find_package(PCL 1.7 REQUIRED)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp pcl_ros
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
link_directories(${PCL_LIBRARY_DIRS})
add_executable(bin_to_pcd src/bin2pcd.cpp)
target_link_libraries(bin_to_pcd
${catkin_LIBRARIES}
${PCL_LIBRARIES}
)
终端输入
i=1; for x in /home/xxx/catkin_lidar/src/bin_to_pcd/bin/*.bin; do /home/xxx/catkin_lidar/devel/lib/bin_to_pcd/bin_to_pcd --infile $x --outfile /home/xxx/catkin_lidar/src/bin_to_pcd/pcd/000$i.pcd; let i=i+1; done
中间的路径根据自己的路径更换。
转换完成:
参考
github地址
KITTI数据集说明论文
https://blog.csdn.net/zengzeyu/article/details/79575702