《PCL点云库学习&VS2010(X64)》Part 17 PCL1.72（VTK6.2.0）数据格式转换txt2pcd

《PCL点云库学习&VS2010(X64)》Part 17 PCL1.72（VTK6.2.0）数据格式转换txt2pcd

1、txt转换成pcd点云格式

#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("D:/C++Workspace/Model/bunny1.txt", "r");

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;
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("D:/C++Workspace/Model/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;
}

将转换后的结果显示出来