点云txt文件转pcd文件

基于C++ 和pcl实现以下格式的点云txt文档转pcd格式。

使用qt 的console实现：

#include <QCoreApplication>
#include <QDir>
#include <QDebug>
#include <QDirIterator>

#include <iostream>
#include <fstream>
#include <strstream>
#include <vector>
#include <pcl/io/pcd_io.h>  //文件输入输出
#include <pcl/point_types.h>  //点类型相关定义
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace std;

typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;


bool readTxtFile(const string &fileName, const char tag, const PointCloudT::Ptr &pointCloud)
{
    cout << "reading file start..... " << endl;
    ifstream fin(fileName);
    string linestr;
    vector<PointT> myPoint;
    while (getline(fin, linestr))
    {
        vector<string> strvec;
        string s;
        stringstream ss(linestr);
        while (getline(ss, s, tag))
        {
            strvec.push_back(s);
        }
        if (strvec.size() < 3){
            cout << "格式不支持" << endl;
            return false;
        }
        PointT p;
        p.x = stod(strvec[0]);
        p.y = stod(strvec[1]);
        p.z = stod(strvec[2]);
        myPoint.push_back(p);
    }
    fin.close();

    //转换成pcd
    pointCloud->width = (int)myPoint.size();
    pointCloud->height = 1;
    pointCloud->is_dense = false;
    pointCloud->points.resize(pointCloud->width * pointCloud->height);
    for (int i = 0; i < myPoint.size(); i++)
    {
        pointCloud->points[i].x = myPoint[i].x;
        pointCloud->points[i].y = myPoint[i].y;
        pointCloud->points[i].z = myPoint[i].z;
    }
    cout << "reading file finished! " << endl;
    cout << "There are " << pointCloud->points.size() << " points!" << endl;
    return true;
}
int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);
    QString dirPath = "/home/csl/livox_txt/7.27textfile/end/txt";
    QDirIterator it(dirPath, QDir::Files | QDir::NoSymLinks | QDir::NoDotAndDotDot | QDir::AllDirs, QDirIterator::Subdirectories);
    while(it.hasNext())
    {
          it.next();
          if(it.fileInfo().suffix() == "txt")
          {
              QString basename = it.fileInfo().baseName();
              QString strNew = QString("%1").arg(basename.toInt(), 4, 10, QLatin1Char('0'));
             
              QString fullname = it.fileInfo().absoluteFilePath();
            
              qDebug() << fullname;

              PointCloudT::Ptr cloud(new PointCloudT);
              readTxtFile(fullname.toStdString(),' ',cloud);

            

              //3.点云输出
              QString out_dir = "/home/csl/livox_txt/7.27textfile/end/pcd/";
              QString out_ex =".pcd";
              QString pcd_name = out_dir + strNew+out_ex;
              pcl::PCDWriter writer;
              writer.writeASCII<PointT>(pcd_name.toStdString(), *cloud);

          }
    }
    return a.exec();
}