KITTI数据集中的二进制激光雷达数据（.bin文件）转换为点云数据（.pcd文件）（C++代码）

目录

main.cpp

CMakeLists.txt

---

main.cpp

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

int main() {
    // Define file paths
    std::string input_filename = "/home/fairlee/KITTI/2011_09_26_drive_0011_sync/velodyne_points/data/0000000000.bin";
    std::string output_filename = "/home/fairlee/KITTI/2011_09_26_drive_0011_sync/velodyne_points/data/0000000000.pcd";

    // Open the binary file
    std::ifstream input_file(input_filename, std::ios::binary);
    if (!input_file.good()) {
        std::cerr << "Error: Could not read file: " << input_filename << std::endl;
        return -1;
    }

    // Define point cloud object
    pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(new pcl::PointCloud<pcl::PointXYZI>);

    // Read points from bin file
    int i = 0;
    while (input_file.good() && !input_file.eof()) {
        pcl::PointXYZI point;
        input_file.read(reinterpret_cast<char*>(&point.x), sizeof(float));
        input_file.read(reinterpret_cast<char*>(&point.y), sizeof(float));
        input_file.read(reinterpret_cast<char*>(&point.z), sizeof(float));
        input_file.read(reinterpret_cast<char*>(&point.intensity), sizeof(float));
        point_cloud->points.push_back(point);
        i++;
    }
    input_file.close();

    // Set additional point cloud properties
    point_cloud->width = i;
    point_cloud->height = 1;  // 1 for unorganized point cloud
    point_cloud->is_dense = true;

    // Save the point cloud to a PCD file
    pcl::io::savePCDFileASCII(output_filename, *point_cloud);
    std::cerr << "Saved " << point_cloud->points.size() << " data points to " << output_filename << std::endl;

    return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.17)
project(TEST2)

set(CMAKE_CXX_STANDARD 14)

# Find PCL
find_package(PCL 1.8 REQUIRED)

# If PCL was found, add its include directories to the project
if(PCL_FOUND)
    include_directories(${PCL_INCLUDE_DIRS})
    link_directories(${PCL_LIBRARY_DIRS})
    add_definitions(${PCL_DEFINITIONS})
else()
    message(FATAL_ERROR "PCL not found.")
endif()

add_executable(TEST2 main.cpp)

# Link PCL libraries to the project
target_link_libraries(TEST2 ${PCL_LIBRARIES})