基于+文件流的txt点云转pcd

笔者之前用cloudpare处理点云数据，由于项目原因，都是txt格式的；最近开始学习PCL点云库，大家都知道这个要求点云是pcd格式的，介于此，先学习点云格式的转换。在网上看了一些博客，大都是通过文件指针来实现格式转换，本文用文件流的方式实现格式的转换。注意：转换时基于pcl点云库的。

1.txtToPCD

原理： （1）获取txt点云的数量

（2）定义pcl cloude对象，设置cloud的大小

（3）通过文件流将txt数据导入cloud

（4）将cloud点云保存为pcd格式

代码如下：

#include<iostream>
#include<fstream>
#include <string>
#include <iomanip>
#include <vector>
#include <sstream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
using namespace std;

struct point
{
	double x;
	double y;
	double z;
	double i;
};
int getTxtNumber(char *p )
{
	ifstream f(p);
	char c;
	int num = 0;
	while (!f.eof())
	{
		c = f.get();
		if (c=='\n')
		num++;
	}
	f.close();
	return num;
}
void txt2pcd(int count,char* filename)
{
	ifstream t(filename);
	double x,y,z,intensity;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	size_t  i= 0;
	point temp;
	cloud->height = count;
	cloud->width = 1;
	cloud->is_dense = false;
	cloud->points.resize(cloud->height*cloud->width);
	while (!t.eof())
	
	{
		t >> setiosflags(ios::fixed) >>setprecision(4) >> x >> y >> z ;
		cloud->points[i].x = x;
		cloud->points[i].y = y;
		cloud->points[i].z = z;
		i++;
	}
	cout << "output point number is " << i << endl;
	t.close();
	pcl::io::savePCDFile("i.pcd", *cloud);
	


}
int main()
{
	
	//pcd2txt
	char *filename = "1.txt";
	int count = getTxtNumber(filename);
	cout << "There are " << count << " points in " << filename << endl;
	txt2pcd(count,filename);

	return0;

}

这是基于pcl库的格式转换，当然不用pcl库同样可以转换为pcd文件。首先要了解pcd格式的头文件

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH 5
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 5
DATA ascii

思路是：使用文件输入流将txt数据先导入容器，然后根据在用输出流输出文件头和数据，此时用到容器，所以就不需要再用 getTxtNumber获取txt文档的数量了，因为容器本身的size已经确定

主函数代码如下：

#include <iostream>

#include <vector>

#include <fstream>

#include <iomanip>

using namesapce std;

struct point

{

double x;

double y;

double z;

};

int main()	

{

	vector<point>src;
	ifstream infile2("1.txt");
	if (!infile2)
	{
		cerr << "open file failed" << endl;
		return -1;
	}
	point temp;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	cloud->height = count;
	cloud->width = 1;
	cloud->is_dense = false;
	cloud->points.resize(cloud->height*cloud->width);
	while (!infile2.eof())
	{	
		infile2 >> temp.x >> temp.y >> temp.z;
		src.push_back(temp);
	
	}
	infile2.close();
	string pcdHeader[11] = { { "# .PCD v0.7 - Point Cloud Data file format " }, {"VERSION 0.7"},
	{ "FIELDS x y z" }, { "SIZE 4 4 4" }, { "TYPE F F F" }, { "COUNT 1 1 1 " }, { "WIDTH 1" }, { "HEIGHT " }, 
	{ "VIEWPOINT 0 0 0 1 0 0 0" }, { "POINTS " }, {"DATA ascii"}
	};
	output to pcd file
	ofstream outpcd("test.pcd");
	if (!outpcd)
	cerr << "open file failed" << endl;
	for (int i = 0; i < 11; i++)
	{
		outpcd << pcdHeader[i];
		if (i == 7|| i==9 )
			outpcd << count;
		outpcd << '\n';

	}
	for (size_t j = 0; j< src.size(); j++)
	{
		outpcd << setiosflags(ios::fixed)<<setprecision(6) << src[j].x << " ";
		outpcd << setiosflags(ios::fixed) << setprecision(6) << src[j].y << " ";
		outpcd << setiosflags(ios::fixed) << setprecision(6) << src[j].z <<endl;
	}
	
	outpcd.close();



		for (size_t i = 0; i < cloud->points.size(); i++)
	{
		//cout << src[i].x<<" "<< src[i].y<<" "<< src[i].z << endl;
		cloud->points[i].x = src[i].x;
		cloud->points[i].y = src[i].y;
		cloud->points[i].z = src[i].z;

	}
	pcl::io::savePCDFile("2.pcd", *cloud);

           return 0;

}