将多个PCD文件合并

 在将bag包文件提取pcd后需要合并处理，记录如下。

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#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;
 
}

 

此代码的CMakeLists为

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})