PCL——txt文件转到PCD文件

#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("D:\\Program files\\Project\\Smoothing\\test_data0_DEM.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; // 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:\\Program files\\Project\\Smoothing\\test_data0_DEM.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; system("pause"); return 0; }