使用PCL批量将点云.bin文件转.pcd

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• 新建文件夹datasets
• datasets文件将下新建两个文件夹bin与pcd，bin中存放要转换的二进制文件，pcd存放转换后的点云文件
• datasets下新建CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(bin2pcd)
 
find_package(PCL 1.2 REQUIRED)
find_package(Boost COMPONENTS program_options REQUIRED )
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(bin2pcd bin2pcd.cpp)
 
target_link_libraries (bin2pcd ${PCL_LIBRARIES} ${Boost_LIBRARIES}) 
 
install(TARGETS bin2pcd RUNTIME DESTINATION bin)

• 新建bin2pcd.cpp

#include <boost/program_options.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/io.h>
#include <pcl/io/vtk_io.h>
#include <vector>
#include <iostream>
#include <fstream>

using namespace pcl;
using namespace std;

void topcd(string name);
void topcd(string infile,string outfile) {

	// load point cloud
	fstream input(infile.c_str(), ios::in | ios::binary);
	if (!input.good()) {
            cerr << "Could not read file: " << infile << endl;
            exit(EXIT_FAILURE);
	}

	input.seekg(0, ios::beg);
	pcl::PointCloud<PointXYZI>::Ptr points(new pcl::PointCloud<PointXYZI>);
	int i;
	for (i = 0; input.good() && !input.eof(); i++) {
            PointXYZI point;
            input.read((char*)&point.x, 3 * sizeof(float));
            input.read((char*)&point.intensity, sizeof(float));
            points->push_back(point);
	}
	input.close();

	cout << "Read point cloud with " << i << " points, writing to " << outfile << endl;

	pcl::PCDWriter writer;

	// Save DoN features
	writer.write<PointXYZI>(outfile, *points, false);
}
int main(int argc, char** argv) {
    string binpath = "/home/xxxx/datasets/bin/";
    string pcdpath = "/home/xxxx/datasets/pcd/";
    vector<boost::filesystem::path> stream(boost::filesystem::directory_iterator{binpath}, boost::filesystem::directory_iterator{});
    sort(stream.begin(), stream.end());
    auto streamIterator = stream.begin();
    int j = 0;
    while(streamIterator != stream.end()){
        string binfile((*streamIterator).string());

        stringstream ss;
        string str;
        ss << setw(10) << setfill('0') << j; // 补零
        ss >> str;
        string surfix = ".pcd";
        string pcdfile = pcdpath + str + surfix;

        topcd(binfile,pcdfile);
        streamIterator++;
        j++;
    }
	return 0;
}

• 注意仅需修改binpath与pcdpath为你的路径
• 新建build文件夹，所以现在的文件层级为这样

├── bin2pcd.cpp
├── build
├── CMakeLists.txt
└── datasets
    ├── bin
        ├── 0000000000.bin
        ├── 0000000001.bin
            ...
    └── pcd
        ├── 0000000000.bin
        ├── 0000000001.bin
            ...

• 剩下的步骤就是正常编译，进入build文件夹

cmake .. && make -j12 

• 然后运行文件

./bin2pcd