【PCL从入门到精通】.txt转.pcd格式的两种方法-xyzrgba

  在转换前，首先确定.txt的格式，是属于xyz还是xyzrgb，这关系到pcd文件中的格式是创建xyz还是xyzrgba格式。

（1）参考博客：https://blog.csdn.net/j_cou/article/details/80329454
原博主是xyz格式转pcd，我的txt后面带有颜色，因此对该代码进行一点修改，代码如下：

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

#include <pcl/visualization/pcl_visualizer.h> 

using namespace std;
int main()
{
	typedef struct tagPOINT_3D
	{
		double x;  //mm world coordinate x  
		double y;  //mm world coordinate y  
		double z;  //mm world coordinate z  
		double r;
	}POINT_WORLD;


	///加载txt数据  
	int number_Txt;
	FILE *fp_txt;
	tagPOINT_3D TxtPoint;
	vector<tagPOINT_3D> m_vTxtPoints;
	fp_txt = fopen("test2.txt", "r");
	if (fp_txt)
	{
		while (fscanf(fp_txt, "%lf %lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z, &TxtPoint.r) != EOF)
		{
			m_vTxtPoints.push_back(TxtPoint);
		}
	}
	else
		cout << "txt数据加载失败！" << endl;
	number_Txt = m_vTxtPoints.size();
	pcl::PointCloud<pcl::PointXYZRYZ> cloud;
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
	 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 = m_vTxtPoints[i].z;
		cloud->points[i].rgb = m_vTxtPoints[i].r;
	}
	pcl::io::savePCDFileASCII("txt2pcd_bunny1.pcd", *cloud);
	std::cerr << "Saved " << cloud->points.size() << " data points to txt2pcd.pcd." << std::endl;

	for (size_t i = 0; i < cloud.points.size(); ++i)
	  std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

	PCL Visualizer
	 Viewer  
	pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
	viewer.addPointCloud(cloud);
	viewer.setBackgroundColor(1, 0.5, 1);

	viewer.spin();
	system("pause");
	return 0;
}

（2）上面貌似是以前版本的代码，后面发现发现了简单的代码。 参考博客：https://blog.csdn.net/qq_38196982/article/details/103949368。该代码直接使用modread，剩下的很多步骤。同上，源代码没有添加颜色，我改成了xyzrgba

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

using namespace std;


int main()
{
	fstream modelRead;
	pcl::PointCloud<pcl::PointXYZRGBA> cloud;
	pcl::PCDWriter writer;

	modelRead.open("test2.txt", std::ios_base::in);
	pcl::PointXYZRGBA pclPnt;
	while (!modelRead.eof())
	{
		modelRead >> pclPnt.x >> pclPnt.y >> pclPnt.z>>pclPnt.rgba;
		cloud.push_back(pclPnt);
	}
	modelRead.close();
	writer.write("test2.pcd", cloud);

	return 0;
}