申明：再找到一款点云标注工具（/r1141207831/article/details/103788891）的时候发现只能输入pcd文件，那么现有的bin文件无法使用，于是找到了bin文件转换为pcd文件的方法，现在分享出来和大家一起讨论学习，如有问题可以留言评论。也感谢那些默默支持和帮助的人。
程序运行环境：
运行系统：Ubuntu16.04
一、新建如下目录结构的文件夹以及文件
PointCloud└── bin2pcd├── bin2pcd.cpp├── build├── CMakeLists.txt├── run.sh└── velodyne├── bin└── pcd
二、填充文件代码
１bin2pcd.cpp代码如下所示：
#include <boost/program_options.hpp>#include <pcl/point_types.h>#include <pcl/io/pcd_io.h>#include <pcl/common/point_operators.h>#include <pcl/common/io.h>#include <pcl/search/organized.h>#include <pcl/search/octree.h>#include <pcl/search/kdtree.h>#include <pcl/features/normal_3d_omp.h>#include <pcl/filters/conditional_removal.h>#include <pcl/segmentation/sac_segmentation.h>#include <pcl/segmentation/extract_clusters.h>#include <pcl/surface/gp3.h>#include <pcl/io/vtk_io.h>#include <pcl/filters/voxel_grid.h>#include <iostream>#include <fstream>using namespace pcl;using namespace std;namespace po = boost::program_options;int main(int argc, char **argv){///The file to read from.string infile;///The file to output to.string outfile;// Declare the supported options.po::options_description desc("Program options");desc.add_options()//Options("infile", po::value<string>(&infile)->required(), "the file to read a point cloud from")("outfile", po::value<string>(&outfile)->required(), "the file to write the DoN point cloud & normals to");// Parse the command linepo::variables_map vm;po::store(po::parse_command_line(argc, argv, desc), vm);// Print helpif (vm.count("help")){cout << desc << "\n";return false;}// Process options.po::notify(vm);// load point cloudfstream 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 KTTI point cloud with " << i << " points, writing to " << outfile << endl;pcl::PCDWriter writer;// Save DoN featureswriter.write<PointXYZI> (outfile, *points, false);}
２CMakeLists.txt代码如下所示：
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)
３run.sh代码如下所示：
i=1; for x in $(cd "$(dirname "$0")"; pwd)/velodyne/bin/*bin; do $(cd "$(dirname "$0")"; pwd)/build/bin2pcd --infile $x --outfile $(cd "$(dirname "$0")"; pwd)/velodyne/pcd/$i.pcd; let i=i+1; done
三、编译程序
启动终端切换目录到build文件夹下，输入以下命令进行编译
cd buildcmake ..make
四、执行转换程序
1 将需要转换的bin文件复制到velodyne目录下的bin文件夹下
２ 使用下面命令为run.sh文件赋予可执行权限
sudo chmod a+x run.sh
３ 切换到run.sh文件目录下，执行以下命令开始bin转换pcd程序
sh run.sh
至此该过程已经全部走完，现在可以到velodyne目录下的pcd文件夹下查看已经转换好的pcd文件了。
附录：
bash 中sh脚本自身路径的获取/zhml8951/article/details/51669401
ubuntu16.04下用pcl库将点云bin文件转成pcd文件/qq_35491306/article/details/82903371
kitti2pcd.cpp/yanii/kitti-pcl/blob/master/src/kitti2pcd.cpp
