从txt文件读取数据保存在pcd中

从txt文件读取数据保存在pcd中

首先写c++文件

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

using namespace std;

struct tagPOINT_3D
{
	float x;
	float y;
	float z;
	float I;
};

int main()
{

	int number_Txt;
    string line;
	tagPOINT_3D TxtPoint;
	vector<tagPOINT_3D> m_vTxtPoints;

    ifstream input("txtwenjian.txt");

    while(getline(input,line)){
        tagPOINT_3D TxtPoint;
        istringstream record(line);
        record >> TxtPoint.x;
        record >> TxtPoint.y;
        record >> TxtPoint.z;
        record >> TxtPoint.I;

        m_vTxtPoints.push_back(TxtPoint);
    }
	number_Txt = m_vTxtPoints.size();
	pcl::PointCloud<pcl::PointXYZ> 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 =m_vTxtPoints[i].x;
		cloud.points[i].y =m_vTxtPoints[i].y;
		cloud.points[i].z = 0.0;
	}
	pcl::io::savePCDFileASCII("pcdwenjian.pcd", cloud);
	std::cerr << "Saved " << cloud.points.size() << " data points to txt2pcd.pcd." << std::endl;
        
        //pcl::visualization::CloudViewer viewer ("Cloud Viewer");
	//viewer.showCloud (cloud);
	//while (!viewer.wasStopped ())
        //{
        //}

	system("pause");
	return 0;
}

再写CMakeLists文件

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(txt2pcd)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (txt2pcd txt2pcd.cpp)
target_link_libraries (txt2pcd ${PCL_LIBRARIES})