二进制点云文件读取格式[x_1y_1z_1x_2y_2z_2...]，最后保存为ply格式点云

循环读取存储格式为32位单精度浮点数的二进制三维点数据文件   转换为点云数据并保存

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/impl/point_types.hpp>
#include <pcl/point_cloud.h>

#include <fstream>
#include <vector>
using namespace std;
// int main()
// {
//     BYTE s[4];

//     // s[3] = 0x00;
//     // s[2] = 0x00;
//     // s[1] = 0x10;
//     // s[0] = 0x2c;
//     //ff8f 0843
//     s[3] = 0x43;
//     s[2] = 0x77;
//     s[1] = 0xb1;
//     s[0] = 0x01;

//     float *pf = (float *)s;

//     printf("10进制%g\n", *pf);
// }

class Point_3d
{

public:
    float m_x;
    float m_y;
    float m_z;

public:
    Point_3d(float &x, float &y, float &z) : m_x(x), m_y(y), m_z(z)
    {
    }
};

vector<Point_3d> get_fs()
{
    ifstream ifs("scan.bin", std::ios::binary);
    float xyz[3] = {};
    // float xyz_1[3] = {};
    vector<Point_3d> pts;
    if (!ifs)
    {
        cerr << "open error !" << endl;
        abort();
    }

    while (!ifs.eof())
    {
        ifs.read((char *)xyz, sizeof(xyz));

        Point_3d pt(xyz[0], xyz[1], xyz[2]);
        pts.push_back(pt);
        // ifs.seekg(sizeof(xyz), ios::cur);
        // ifs.read((char *)xyz_1, sizeof(xyz_1));
    }
    ifs.clear();
    ifs.close();

    return pts;
}

int main(int argc, char **argv)
{
    pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
    // Fill in the cloud data
    cloud.width = 1000;
    cloud.height = 1000;
    cloud.is_dense = false;
    cloud.points.resize(cloud.width * cloud.height);

    cloud_ptr->width = cloud.width;
    cloud_ptr->height = cloud.height;
    cloud_ptr->is_dense = cloud.is_dense;
    // cloud_ptr->points.resize (cloud.width * cloud.height);

    //   for (size_t i = 0; i < cloud.points.size (); ++i)
    //   {
    //    // cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    //    // cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    //    // cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);

    //         pcl::PointXYZ p;
    //         p.x = 1024 * rand () / (RAND_MAX + 1.0f);
    //         p.y = 1024 * rand () / (RAND_MAX + 1.0f);
    //         p.z = 1024 * rand () / (RAND_MAX + 1.0f);
    //         cloud.points[i].x = p.x;
    //         cloud.points[i].y = p.y;
    //         cloud.points[i].z = p.z;

    //         cloud_ptr->points.push_back(p);
    //   }

    vector<Point_3d> pts = get_fs();
    for (int i = 0; i < pts.size(); i++)
    {
        cloud.points[i].x = pts[i].m_x;
        cloud.points[i].y = pts[i].m_y;
        cloud.points[i].z = pts[i].m_z;

        pcl::PointXYZ p;
        p.x = pts[i].m_x;
        p.y = pts[i].m_y;
        p.z = pts[i].m_z;
        cloud_ptr->points.push_back(p);
    }

    std::cerr << "Saving to pcd file " << std::endl;
    pcl::io::savePCDFileASCII("test_pcd0.pcd", cloud);
    pcl::io::savePCDFile("test_pcd1.pcd", *cloud_ptr);
    std::cerr << "Saved " << cloud.points.size() << " data points to test_pcd.pcd." << std::endl;

    std::cerr << "Saving to ply file " << std::endl;
    pcl::io::savePLYFile("test_ply.ply", cloud);

    for (size_t i = 0; i < cloud.points.size(); ++i)
    {
        //  std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
        std::cerr << "    " << cloud_ptr->points[i].x << " " << cloud_ptr->points[i].y << " " << cloud_ptr->points[i].z << std::endl;
    }

    return (0);
}

//采用CPP模式读二进制文件
// void DataRead_CPPMode()
// {
// 	double pos[200];
// 	ifstream f("binary.dat", ios::binary);
// 	if(!f)
// 	{
// 		cout << "读取文件失败" <<endl;
// 		return;
// 	}
// 	f.read((char*)pos,200*sizeof(double));
// 	for(int i = 0; i < 200; i++)
// 		cout << pos[i] <<endl;
// 	f.close();

// }

点云图效果