txt文件转pcd文件

前些天学习了 学习了pcl中文件格式的读入和写出，了解到pcl中文件为pcd格式，写了一个小程序将TXT格式转换成pcd。

注：本文代码是基于已经配置好pcl库的前提下。

txt文件（随机生成的5个点）

主要代码：

#include

#include
#include
#include
#include<pcl\io\pcd_io.h>
#include<pcl\point_types.h>
using namespace std;

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

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

if (fp_txt)
{
	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("test_pcd.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;

}

生成的test_pcd.pcd文件

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版权声明：本文为CSDN博主「BOO2018」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/qq_42570058/article/details/82989794