点云数据bin格式转换为pcd格式的方法

申明：再找到一款点云标注工具（https://blog.csdn.net/r1141207831/article/details/103788891）的时候发现只能输入pcd文件，那么现有的bin文件无法使用，于是找到了bin文件转换为pcd文件的方法，现在分享出来和大家一起讨论学习，如有问题可以留言评论。也感谢那些默默支持和帮助的人。

程序运行环境：

运行系统：Ubuntu16.04

一、新建如下目录结构的文件夹以及文件

PointCloud
    └── bin2pcd
        ├── bin2pcd.cpp
        ├── build
        ├── CMakeLists.txt
        ├── run.sh
        └── velodyne
            ├── bin
            └── pcd

二、填充文件代码

　１　bin2pcd.cpp代码如下所示：

#include <boost/program_options.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/point_operators.h>
#include <pcl/common/io.h>
#include <pcl/search/organized.h>
#include <pcl/search/octree.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/surface/gp3.h>
#include <pcl/io/vtk_io.h>
#include <pcl/filters/voxel_grid.h>
 
#include <iostream>
#include <fstream>
 
using namespace pcl;
using namespace std;
 
namespace po = boost::program_options;
 
int main(int argc, char **argv){
	///The file to read from.
	string infile;
 
	///The file to output to.
	string outfile;
 
	// Declare the supported options.
	po::options_description desc("Program options");
	desc.add_options()
		//Options
		("infile", po::value<string>(&infile)->required(), "the file to read a point cloud from")
		("outfile", po::value<string>(&outfile)->required(), "the file to write the DoN point cloud & normals to")
		;
	// Parse the command line
	po::variables_map vm;
	po::store(po::parse_command_line(argc, argv, desc), vm);
 
	// Print help
	if (vm.count("help"))
	{
		cout << desc << "\n";
		return false;
	}
 
	// Process options.
	po::notify(vm);
 
	// load point cloud
	fstream input(infile.c_str(), ios::in | ios::binary);
	if(!input.good()){
		cerr << "Could not read file: " << infile << endl;
		exit(EXIT_FAILURE);
	}
	input.seekg(0, ios::beg);
 
	pcl::PointCloud<PointXYZI>::Ptr points (new pcl::PointCloud<PointXYZI>);
 
	int i;
	for (i=0; input.good() && !input.eof(); i++) {
		PointXYZI point;
		input.read((char *) &point.x, 3*sizeof(float));
		input.read((char *) &point.intensity, sizeof(float));
		points->push_back(point);
	}
	input.close();
 
	cout << "Read KTTI point cloud with " << i << " points, writing to " << outfile << endl;
 
    pcl::PCDWriter writer;
 
    // Save DoN features
    writer.write<PointXYZI> (outfile, *points, false);
}

　２　CMakeLists.txt代码如下所示：

cmake_minimum_required(VERSION 3.5)
project(bin2pcd)
 
find_package(PCL 1.2 REQUIRED)
 
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 bin2pcd.cpp)
 
target_link_libraries (bin2pcd ${PCL_LIBRARIES} ${Boost_LIBRARIES}) 
 
install(TARGETS bin2pcd RUNTIME DESTINATION bin)

　３　run.sh代码如下所示：

i=1; for x in $(cd "$(dirname "$0")"; pwd)/velodyne/bin/*bin; do $(cd "$(dirname "$0")"; pwd)/build/bin2pcd --infile $x --outfile $(cd "$(dirname "$0")"; pwd)/velodyne/pcd/$i.pcd; let i=i+1; done