方法1:
本文转载自:https://blog.csdn.net/qq_42882082/article/details/117170505
在转换前,首先确定.txt的格式,是属于xyz还是xyzrgb(含RGB信息),这关系到pcd文件中的格式是创建xyz还是xyzrgba格式。
代码如下:
#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;
}
注:先将xyz类型的数据文件先用记事本打开,保存为txt文件。代码中的输入文件即是该txt文件,建议将该txt文件保存到项目中和源代码同一文件夹下,生成的pcd文件也在该目录下。
参考文献
https://blog.csdn.net/qq_42882082/article/details/117170505
############################################################################
方法2:
本文转载自:
https://blog.csdn.net/qq_42570058/article/details/82989794
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<iostream>
#include<fstream>
#include<vector>
#include<string>
#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;
}
运行结果:
生成的test_pcd.pcd文件
参考文献:
原文链接:https://blog.csdn.net/qq_42570058/article/details/82989794