將bin 格式的點(diǎn)云轉(zhuǎn)換成pcd 的格式有可能亂碼，需要將pcd 另存一份

代碼在git https://github.com/luogantt/laser_point_det/tree/master/pcd_mess

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mian.cpp

#include <iostream> #include <cstring> #include <pcl/io/pcd_io.h> #include <pcl/point_cloud.h> #include <pcl/point_types.h>bool LoadPCD(std::string filename, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud) {if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename, *cloud) == -1){std::cout<< "can't read file " << filename << std::endl;return (-1);} }int main(int argc, char **argv) {std::cout << "Hello, world!" << std::endl;pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_source(new pcl::PointCloud<pcl::PointXYZ>);//std::string filename = "/home/oem/lg/project/centerpoint_pro/python_center_point/pcd_data/show/temp1/a.pcd";std::string filename = "../a.pcd"; // std::string filename = "../table_scene_lms400.pcd";LoadPCD(filename, cloud_source);std::cout << "PointCloud_source has: " << cloud_source->points.size () << " data points." << std::endl;pcl::PCDWriter writer;std::stringstream ss;//ss << "/home/oem/lg/project/centerpoint_pro/python_center_point/pcd_data/show/temp1/a1.pcd";ss << "../a1.pcd";writer.write<pcl::PointXYZ> (ss.str (), *cloud_source, false); //*return 0; }

CMakeLists.txt

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 main.cpp)target_link_libraries (bin2pcd ${PCL_LIBRARIES} ${Boost_LIBRARIES}) #此處也有修改install(TARGETS bin2pcd RUNTIME DESTINATION bin)

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