点云pcd格式与ply格式互相转换

最新推荐文章于 2023-01-13 15:54:13 发布

McQueen_LT

最新推荐文章于 2023-01-13 15:54:13 发布

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分类专栏： # pcl点云格式转换文章标签：点云格式转换

本文链接：https://blog.csdn.net/mcqueen_lt/article/details/109725587

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1. pcd转ply

#include <iostream>
#include <pcl/io/ply_io.h>
#include <pcl/io/pcd_io.h>

using namespace std;

int main()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloudOrigin(new pcl::PointCloud<pcl::PointXYZ>);
    //pcl::PLYReader reader;
    pcl::PCDReader reader;
    reader.read("D:\\MatLab\\workspace\\Point-cloud-Edge-and-Corner-Detection-master\\data\\panel_line3.pcd", *cloudOrigin);
    
    /*for循环避免出现数据中出现nan*/
    for (int i = 0; i < cloudOrigin->points.size(); i++)
    {
        if (isnan(cloudOrigin->points[i].x))
        {
            cloudOrigin->points[i].x = 0;
            cloudOrigin->points[i].y = 0;
            cloudOrigin->points[i].z = 0;
        }
    }
    //pcl::PCDWriter writer;
    pcl::PLYWriter writer;
    writer.write("D:\\MatLab\\workspace\\Point-cloud-Edge-and-Corner-Detection-master\\data\\panel_line3.ply", *cloudOrigin);
    cout << "finished..." << endl;
    return 0;
}

2. ply转pcd

#include <iostream>
#include <pcl/io/ply_io.h>
#include <pcl/io/pcd_io.h>

using namespace std;

int main()
{
    pcd::PointCloud<pcl::PointXYZ>::Ptr cloudOrigin(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PLYReader reader;
    reader.read("D:\\MatLab\\workspace\\Point-cloud-Edge-and-Corner-Detection-master\\data\\panel_line3.ply", *cloudOrigin);
    
    pcl::PCDWriter writer;
    writer.writeASCII("D:\\MatLab\\workspace\\Point-cloud-Edge-and-Corner-Detection-master\\data\\panel_line3.pcd", *cloudOrigin);
    cout << "finished..." << endl;
    return 0;
}