PCD文件格式的轉換

1.PCD文件格式轉PLY文件格式

bool loadPCDCloud(const string &filename,pcl::PCLPointCloud2 &cloud) {TicToc tt;print_highlight("Loading "); print_value("%s ", filename.c_str());pcl::PLYReader reader;tt.tic();if (loadPCDFile(filename, cloud) < 0)return (false);print_info("[done, "); print_value("%g", tt.toc()); print_info(" ms : "); print_value("%d", cloud.width * cloud.height); print_info(" points]\n");print_info("Available dimensions: "); print_value("%s\n", pcl::getFieldsList(cloud).c_str());return true; }void savePLYCloud (const std::string &filename, const pcl::PCLPointCloud2 &cloud, bool binary,bool use_camera) {TicToc tt;tt.tic ();print_highlight ("Saving "); print_value ("%s ", filename.c_str ());pcl::PLYWriter writer;//傳感器采集原點 獲取方向 Identity() 1 0 0 0writer.write (filename, cloud, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), binary,use_camera);print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n"); }bool format = 1; bool use_camera = 1; pcl::PCLPointCloud2 cloud; if (!loadPCDCloud("4.pcd", cloud))return (-1); savePLYCloud("4.ply", cloud, format,use_camera);

2.PLY文件格式轉PCD文件格式

bool loadPLYCloud(const string &filename,pcl::PCLPointCloud2 &cloud) {TicToc tt;print_highlight("Loading "); print_value("%s ", filename.c_str());pcl::PLYReader reader;tt.tic();if (reader.read(filename, cloud) < 0)return (false);print_info("[done, "); print_value("%g", tt.toc()); print_info(" ms : "); print_value("%d", cloud.width * cloud.height); print_info(" points]\n");print_info("Available dimensions: "); print_value("%s\n", pcl::getFieldsList(cloud).c_str());return true; }void savePCDCloud (const std::string &filename, const pcl::PCLPointCloud2 &cloud, bool format) {TicToc tt;tt.tic ();print_highlight ("Saving "); print_value ("%s ", filename.c_str ());pcl::PCDWriter writer;//傳感器采集原點 獲取方向 Identity() 1 0 0 0writer.write (filename, cloud, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), format);print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n"); }bool format = 1; if (!loadPLYCloud("4.ply", cloud))return (-1); savePCDCloud("4.pcd", cloud, format);

總結

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