PCL教程指南-ply转pcd,txt转pcd

1.ply转pcd

int plyToPcd(){
    pcl::PLYReader reader;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    reader.read<pcl::PointXYZ>("xxxx.ply", *cloud);
    pcl::io::savePCDFile("xxxx.pcd", *cloud );
    }

2.txt转pcd

int txtToPcd()
{
    //定义一种类型表示TXT中xyz
    typedef struct TXT_Point_XYZ
    {
        double x;
        double y;
        double z;
    };

    //定义变量
    int num_txt;
    FILE *fp_txt;
    TXT_Point_XYZ txt_points;
    vector<TXT_Point_XYZ> my_vTxtPoints;
    //读取txt文件
    fp_txt = fopen("xxxx.txt","r");

    if (fp_txt)
    {
    //本TXT以制位符逐行扫描，根据不同组织形式，写不同读取格式
        while (fscanf(fp_txt, "%lf  %lf %lf", &txt_points.x, &txt_points.y, &txt_points.z) != EOF)
        {//将点存入容器尾部
            my_vTxtPoints.push_back(txt_points);
        }
    }
    else
        cout << "读取txt文件失败"<<endl;

    num_txt = my_vTxtPoints.size();

    //写入点云数据
    pcl::PointCloud<pcl::PointXYZ> ::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    cloud->width = num_txt;
    cloud->height = 1;
    cloud->is_dense = false;
    cloud->points.resize(cloud->width*cloud->height);
    for (int i = 0; i < cloud->points.size(); ++i)
    {
        cloud->points[i].x = my_vTxtPoints[i].x;
        cloud->points[i].y = my_vTxtPoints[i].y;
        cloud->points[i].z = my_vTxtPoints[i].z;
    }
    pcl::io::savePCDFileASCII("xxxxx.pcd", *cloud);
    cout<< "从 txt_pcd.txt读取" << cloud->points.size() << "点写入txt_pcd.pcd" << endl;

    //打印出写入的点
    cout << "_________________________________" << endl;
    for (size_t i = 0; i < cloud->points.size(); ++i)
        cout << "    " << cloud->points[i].x
             << " " << cloud->points[i].y
             << " " << cloud->points[i].z << endl;

    return 0;
}