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;
}