基于PCL的三维重建——txt文件格式转化pcd文件格式

在进行三维重建中常用pcd文件格式进行操作，将得到的txt文件格式转化就变得必不可少。

#include<iostream>
#include<fstream>
#include <string>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
using namespace std;

typedef struct tagPOINT_3D
{
double x; //mm world coordinate x
double y; //mm world coordinate y
double z; //mm world coordinate z
double r;
}POINT_WORLD;

int main()
{
/////加载txt数据
int number_Txt;
FILE *fp_txt;
tagPOINT_3D TxtPoint;
vector<tagPOINT_3D> m_vTxtPoints;
fp_txt = fopen("junjie2.txt", "r");//这个地方填文件的位置

if (fp_txt)
{
while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF)
{
m_vTxtPoints.push_back(TxtPoint);
}
}
else
cout << "txt数据加载失败！" << endl;
number_Txt = m_vTxtPoints.size();
pcl::PointCloud<pcl::PointXYZ> cloud;

// Fill in the cloud data
cloud.width = number_Txt;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize(cloud.width * cloud.height);

for (size_t i = 0; i < cloud.points.size(); ++i)
{
cloud.points[i].x = m_vTxtPoints[i].x;
cloud.points[i].y = m_vTxtPoints[i].y;
cloud.points[i].z = m_vTxtPoints[i].z;
}
pcl::io::savePCDFileASCII("junjie2.pcd", cloud);//这个地方填输出的路径
std::cerr << "Saved " << cloud.points.size() << " data points to txt2pcd.pcd." << std::endl;

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;

system("pause");
return 0;
}