使用pcl将bin文件转化为pcd文件
环境搭载：ubuntu16.04
之后正式操作具体如下：
在home下，新建文件夹PointCloud（我建在这里，大家随意），在PointCloud文件里继续新建文件夹bin2pcd，在bin2pcd文件里继续新建文件夹velodyne和build，同时新建文档bin2pcd.cpp和CMakeLists.txt，进入新建等velodyne文件里，继续新建文件夹bin和pcd，到此，新建操作结束。
然后将测试的bin文件放入velodyne里的bin文件夹里，我这里只放了7个bin文件。接着把空文档bin2pcd.cpp和CMakeLists.tx的代码补上，代码以及上述操作，如下列图示：
代码不需要更改：
bin2pcd.cpp代码如下：
#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 line po::variables_map vm; po::store(po::parse_command_line(argc, argv, desc), vm); // Print help if (vm.count("help")) { cout << desc << "\n"; return false; } // Process options. po::notify(vm); // load point cloud fstream 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 features writer.write<PointXYZI> (outfile, *points, false); } CMakeLists.txt代码如下：
cmake_minimum_required(VERSION 3.5) project(bin2pcd) find_package(PCL 1.2 REQUIRED) # 加入Boost setting 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} ${Boost_LIBRARIES}) #此处也有修改 install(TARGETS bin2pcd RUNTIME DESTINATION bin) 现在开始编译
直接上图，代码最后给出可以复制的
执行完cmake…
make
然后输入i=1;for x in /home/wzf/PointCloud/bin2pcd/velodyne/bin/*.bin; do /home/wzf/PointCloud/bin2pcd/build/bin2pcd --infile i.pcd; let i=i+1; done
/home/wzf/PointCloud/bin2pcd/velodyne/bin/*.bin 是储存 .bin文件的路径；
/home/wzf/PointCloud/bin2pcd/build/bin2pcd 是可执行程序的路径；
/home/wzf/PointCloud/bin2pcd/velodyne/pcd/$i.pcd 是放转换后的pcd文件的路径。
所有代码成功执行后，查看velodyne文件下的pcd文件夹，会发现生成里pcd文件，如下图：