velodyne 获取32线 csv 转换成 pcd 文件

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32线 csv 转换成 pcd 文件 C++

csv文件格式为

目标是从 csv 文件中提取 XYZI 数据，保存成 pcd 文件

源代码

#include "pch.h"
#include <iostream>
#include <fstream>
#include <sstream>
#include <string>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

using namespace std;
 
typedef struct tagPOINT_3D
{
	double x;  //mm world coordinate x
	double y;  //mm world coordinate y
	double z;  //mm world coordinate z
	double i;
}POINT_WORLD;

vector<tagPOINT_3D> my_csvPoints;
tagPOINT_3D csvPoint;


int main()
{
	ifstream fin("onezhen.csv");
	string line;
	int i = 0;
	while (getline(fin, line)) 
	{
		//cout << "原始字符串：" << line << endl; //整行输出
		istringstream sin(line); 
		vector<string> fields;
		string field;
		while (getline(sin, field, ','))
		{
			fields.push_back(field);
		}
		if(i!=0){
			csvPoint.x  = atof(fields[3].c_str());
			csvPoint.y  = atof(fields[4].c_str());
			csvPoint.z  = atof(fields[5].c_str());
			csvPoint.i  = atof(fields[6].c_str());
			//cout << "处理之后的字符串：" << csvPoint.x << "\t" << csvPoint.y << "\t" << csvPoint.z << "\t" << csvPoint.i << endl;
			my_csvPoints.push_back(csvPoint);
		}
		else
			i++;
	}
	//cout << my_csvPoints.size() << endl;
	int number_Txt= my_csvPoints.size();
	
	pcl::PointCloud<pcl::PointXYZI> cloud;
	// 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 = my_csvPoints[i].x;
		cloud.points[i].y = my_csvPoints[i].y;
		cloud.points[i].z = my_csvPoints[i].z;
		cloud.points[i].intensity = my_csvPoints[i].i;
	}
	pcl::io::savePCDFileASCII("mydata.pcd", cloud);
	std::cerr << "Saved " << cloud.points.size() << " data points to txt2pcd.pcd." << std::endl;
	
	return EXIT_SUCCESS;
}

注意： 使用pcl::io::savePCDFileASCII(./***/***.pcd) 时路径要存在

pcl::io::savePCDFileASCII("mydata.pcd", cloud);

csv文件及源程序下载链接：csv文件及源程序下载