pcd文件读写

主要参考官网源码

#include "stdafx.h"
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h> 
#include <pcl/registration/icp.h>
#include<fstream>  
#include <string>  
#include <vector> 
#include <vtkAutoInit.h>
//VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
using namespace std;

//txt转pcd
void Txt2Pcd()
{
	typedef struct tagPOINT_3D
	{
		double x;
		double y;
		double z;
		double r;
	};
	// 加载txt数据
	int PointNum;
	FILE *fp_txt;
	tagPOINT_3D TxtPoint;
	vector<tagPOINT_3D> m_vTxtPoints;
	fp_txt = fopen("test2.txt", "r");
	uint64_t timestamp = 0;
	if (fp_txt)
	{
		while (fscanf(fp_txt, "%lf,%lf,%lf,%lf,%lld,", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z, &TxtPoint.r, &timestamp) != EOF)
		{
			m_vTxtPoints.push_back(TxtPoint);
		}
	}
	else
	{
		cout << "can not read txt file." << endl;
		return;
	}
	PointNum = 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 = PointNum;
	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::savePCDFileBinary("txt2pcdBinary.pcd", *cloud);
	std::cerr << "Saved " << cloud->points.size() << " data points to txt2pcd.pcd." << std::endl;
	pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
	viewer.addPointCloud(cloud);
	viewer.setBackgroundColor(0, 0, 0);
	viewer.setWindowBorders(1);
	viewer.spin();
}
//读取pcd文件
bool ReadPcd()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

	if (pcl::io::loadPCDFile<pcl::PointXYZ>("test_pcd.pcd", *cloud) == -1) //* load the file
	{
		PCL_ERROR("Couldn't read file test_pcd.pcd \n");
		return 0;
	}
	cout << "Loaded " << cloud->width * cloud->height << " points with the following fields: " << endl;
	for (const auto& point : *cloud)
		cout << "    " << point.x << " " << point.y << " " << point.z << endl;
	return 1;
}
//写入pcd文件
void WritePcd()
{
	pcl::PointCloud<pcl::PointXYZ> cloud;
	// Fill in the cloud data
	cloud.width = 5;
	cloud.height = 1;
	cloud.is_dense = false;
	cloud.points.resize(cloud.width * cloud.height);

	for (auto& point : cloud)
	{
		point.x = 1024 * rand() / (RAND_MAX + 1.0f);
		point.y = 1024 * rand() / (RAND_MAX + 1.0f);
		point.z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);
	cerr << "Saved " << cloud.size() << " data points to test_pcd.pcd." << endl;

	for (const auto& point : cloud)
		cerr << "    " << point.x << " " << point.y << " " << point.z << endl;
	return;
}