KITTI数据集（.bin数据）转换为点云数据（.pcd文件）

目录

cmake代码

代码

cmake代码

cmake_minimum_required(VERSION 3.17)
project(TEST2)set(CMAKE_CXX_STANDARD 14)# Find PCL
find_package(PCL 1.8 REQUIRED)# If PCL was found, add its include directories to the project
if(PCL_FOUND)include_directories(${PCL_INCLUDE_DIRS})link_directories(${PCL_LIBRARY_DIRS})add_definitions(${PCL_DEFINITIONS})
else()message(FATAL_ERROR "PCL not found.")
endif()add_executable(TEST2 main.cpp)# Link PCL libraries to the project
target_link_libraries(TEST2 ${PCL_LIBRARIES})

代码

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <fstream>
#include <iostream>
#include <vector>int main() {// Define file pathsstd::string input_filename = "/home/fairlee/KITTI/2011_09_26_drive_0011_sync/velodyne_points/data/0000000000.bin";std::string output_filename = "/home/fairlee/KITTI/2011_09_26_drive_0011_sync/velodyne_points/data/0000000000.pcd";// Open the binary filestd::ifstream input_file(input_filename, std::ios::binary);if (!input_file.good()) {std::cerr << "Error: Could not read file: " << input_filename << std::endl;return -1;}// Define point cloud objectpcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(new pcl::PointCloud<pcl::PointXYZI>);// Read points from bin fileint i = 0;while (input_file.good() && !input_file.eof()) {pcl::PointXYZI point;input_file.read(reinterpret_cast<char*>(&point.x), sizeof(float));input_file.read(reinterpret_cast<char*>(&point.y), sizeof(float));input_file.read(reinterpret_cast<char*>(&point.z), sizeof(float));input_file.read(reinterpret_cast<char*>(&point.intensity), sizeof(float));point_cloud->points.push_back(point);i++;}input_file.close();// Set additional point cloud propertiespoint_cloud->width = i;point_cloud->height = 1;  // 1 for unorganized point cloudpoint_cloud->is_dense = true;// Save the point cloud to a PCD filepcl::io::savePCDFileASCII(output_filename, *point_cloud);std::cerr << "Saved " << point_cloud->points.size() << " data points to " << output_filename << std::endl;return 0;
}