编译器:Qt Creator 5.12.9
思路:
1.分配内存空间,读bin文件
2.按X、Y、Z、I的顺序保存到pcl::PointXYZI类里(一个“点”类)
3.保存到pcl::PointCloud<pcl::PointXYZI>点云类里
4.重复2、3步,直到所有数据保存完
5.调用函数输出PCD格式文件
.pro:
INCLUDEPATH += /usr/include/eigen3
INCLUDEPATH += /usr/include/vtk-6.3
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so
INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so
INCLUDEPATH += /usr/include/pcl-1.8
LIBS += /usr/lib/x86_64-linux-gnu/libpcl_*.so
ReadBinWritePCD.cpp :
#include <iostream>
#include<vector>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
//1.释放内存 *data 2.保存point_cloud为PCD,注意设定长和高
using namespace std;
int main()
{
// allocate 4