rosbag的pointcloud2格式点云文件转pcd直接使用pcl库即可:
rosrun pcl_ros bag_to_pcd xx.bag /topicname path
出来的是根据时间戳排列的一系列pcd文件
我们需要将它们合并。cpp使用pcl库
CMakeists文件如下:
cmake_minimum_required(VERSION 2.8)
project(pcl_test)
# 设置编译模式
set( CMAKE_BUILD_TYPE "Debug" )
set(CMAKE_CXX_FLAGS "-std=c++11")
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcl_test addpoints.cpp)
target_link_libraries (pcl_test ${PCL_LIBRARIES} ${OpenCV_LIBS})
c++遍历文件夹:https://blog.csdn.net/weixin_38419133/article/details/103561532
addpoints.cpp:
#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <string>
#include <dirent.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <vector>
#include <iostream>
using namespace std;
const char* path = "/media/car/T7/addpoint/data/";
void GetFileNames(string path,vector<string>& filenames)
{
DIR *pDir;
struct dirent* ptr;
if(!(pDir = opendir(path.c_str()))){
std::cout<<"Folder doesn't Exist!"<<std::endl;
return;
}
while((ptr = readdir(pDir))!=0) {
if (strcmp(ptr->d_name, ".") != 0 && strcmp(ptr->d_name, "..") != 0){
filenames.push_back(path + "/" + ptr->d_name);
//std::cout<<path + "/" + ptr->d_name<<endl;
}
}
closedir(pDir);
}
int main(int argc, char** argv) {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudadd(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
//pcl::io::loadPCDFile("./test1.pcd", *cloud);
DIR *pDir;
struct dirent* ptr;
if(!(pDir = opendir("/media/car/T7/addpoint/data/"))){
std::cout<<"Folder doesn't Exist!"<<std::endl;
return -1;
}
while((ptr = readdir(pDir))!=0) {
if (strcmp(ptr->d_name, ".") != 0 && strcmp(ptr->d_name, "..") != 0){
//filenames.push_back(path + "/" + ptr->d_name);
pcl::io::loadPCDFile("/media/car/T7/addpoint/data/" + string(ptr->d_name), *cloud);
*cloudadd = *cloudadd + *cloud;
cloud->clear();
//std::cout<<path + "/" + ptr->d_name<<endl;
}
}
closedir(pDir);
pcl::io::savePCDFileBinary("test_pcd.pcd", *cloudadd);
return 0;
}
pcd转txt:
https://blog.csdn.net/a529975125/article/details/71175066
Failed to find match for field ‘rgba’
问题解决:
改为pcl::PointXYZ即可