03点云文件常用格式转换（pcd,txt,ply,obj,stl）

1. pcd转txt

 1 #include <iostream>
 2 #include <fstream>
 3 #include <pcl/io/pcd_io.h>   
 4 
 5 int main(int argc, char *argv[])
 6 {
 7 
 8     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 9     pcl::io::loadPCDFile("rabbit.pcd", *cloud);
10 
11     std::ofstream outfile;
12     outfile.open("rabbit.txt");
13 
14     for (size_t i = 0; i < cloud->points.size(); i++) 
15     {
16         outfile << cloud->points[i].x << "\t" << cloud->points[i].y << "\t" << cloud->points[i].z << "\n";
17      }
18 
19     system("pause");
20 
21     return 0;
22 }

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2. txt转pcd

 1 #include <iostream>
 2 #include <fstream>
 3 #include <pcl\io\pcd_io.h>
 4 
 5 int main() 
 6 {
 7     std::ifstream infile;
 8     infile.open("rabbit.txt");
 9 
10     float x, y, z;
11     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
12     
13     while (infile >> x >> y >> z) 
14     {
15         cloud->push_back(pcl::PointXYZ(x, y, z));
16     }
17 
18     // 保存为二进制格式
19     //pcl::io::savePCDFileBinary("rabbit_new.pcd", *cloud);
20 
21     // 保存为ASCII格式
22     pcl::io::savePCDFileASCII("rabbit_new.pcd", *cloud);
23 
24     system("pause");
25 
26     return 0;
27 }

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3. pcd转ply

 1 #include <iostream>
 2 #include <pcl\io\pcd_io.h>
 3 #include <pcl\io\ply_io.h>
 4 #include <pcl\point_types.h>
 5 
 6 int main() 
 7 {
 8     
 9     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
10     pcl::io::loadPCDFile("rabbit.pcd", *cloud);
11 
12     pcl::io::savePLYFile("rabbit.ply", *cloud);
13 
14     system("pause");
15 
16     return 0;
17 }

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4.ply 转pcd

 1 #include <iostream>
 2 #include <pcl\io\pcd_io.h>
 3 #include <pcl\io\ply_io.h>
 4 #include <pcl\point_types.h>
 5 
 6 int main() 
 7 {
 8     
 9     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
10 
11     pcl::io::loadPLYFile("rabbit.ply", *cloud);
12 
13 
14     pcl::io::savePCDFileBinary("rabbit.pcd", *cloud);
15 
16     system("pause");
17 
18     return 0;
19 }

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5. obj/ply转pcd

参见：https://blog.csdn.net/taifyang/article/details/116382273?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162746031516780261991459%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=162746031516780261991459&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_v2~rank_v29-8-116382273.first_rank_v2_pc_rank_v29&utm_term=pcd%E8%BD%ACnpy&spm=1018.2226.3001.4187

03点云文件常用格式转换（pcd,txt,ply,obj,stl）

5. obj/ply转pcd

obj/ply转pcd（均匀采样）