1、TXT转PCD
#include<iostream> #include<fstream> #include <string> #include <vector> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/visualization/pcl_visualizer.h> using namespace std;int main(){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;/加载txt数据 int number_Txt;FILE *fp_txt;tagPOINT_3D TxtPoint;vector<tagPOINT_3D> m_vTxtPoints;fp_txt = fopen("za.txt", "r");if (fp_txt){while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF){m_vTxtPoints.push_back(TxtPoint);}}elsecout << "txt数据加载失败！" << endl;number_Txt = m_vTxtPoints.size();//pcl::PointCloud<pcl::PointXYZ> cloud;pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);// 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("txt2pcd_bunny1.pcd", *cloud);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;//PCL Visualizer// Viewer pcl::visualization::PCLVisualizer viewer("Cloud Viewer");viewer.addPointCloud(cloud);viewer.setBackgroundColor(1, 0.5, 1);viewer.spin();system("pause");return 0;}
2、pcd转txt
#include <iostream>#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> using namespace std;int main(int argc, char *argv[]){pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);// Fill in the cloud data if (pcl::io::loadPCDFile<pcl::PointXYZ>("F:\\.11.9\\体积检测图片\\pointcloud_pefect.pcd", *cloud) == -1){PCL_ERROR("Couldn't read file chuli.pcd\n");return (-1);}//for (size_t i = 0; i < cloud->points.size(); i++)// std::cout << " " << cloud->points[i].x << " " << cloud->points[i].y// <<" "<< cloud->points[i].z << std::endl;int Num = cloud->points.size();double *X = new double[Num] {0};double *Y = new double[Num] {0};double *Z = new double[Num] {0};for (size_t i = 0; i < cloud->points.size(); ++i){X[i] = cloud->points[i].x;Y[i] = cloud->points[i].y;Z[i] = cloud->points[i].z;}ofstream zos("F:\\.11.9\\体积检测图片\\pcd2txt.txt");for (int i = 0; i<Num; i++){zos << X[i] << " " << Y[i] << " " << Z[i] << endl;}cout << "trans has done!!!" << endl;cin.get();return 0;}
3、pcd转ply-matlab
ptCloud = pcread('F:\\.11.9\\体积检测图片\好的点云\\sgbm_self\\point_final.pcd');pcwrite(ptCloud,'F:\\.11.9\\体积检测图片\好的点云\\sgbm_self\\point_final.ply');ptCloud=pcread('F:\\.11.9\\体积检测图片\好的点云\\sgbm_self\\point_final.ply');pcshow('F:\\.11.9\\体积检测图片\好的点云\\sgbm_self\\point_final.ply');
