C++：读取二进制格式点云（读bin文件点云）

C++代码

注意，bin文件存储格式为float32,如果其他类型读取数据不对。

int loadData(const char *file, void **data, unsigned int *length)
{
    
    
  std::fstream dataFile(file, std::ifstream::in);

  if (!dataFile.is_open())
  {
    
    
	  std::cout << "Can't open files: "<< file<<std::endl;
	  return -1;
  }

  //get length of file:
  unsigned int len = 0;
  dataFile.seekg (0, dataFile.end);
  len = dataFile.tellg();
  dataFile.seekg (0, dataFile.beg);

  //allocate memory:
  char *buffer = new char[len];
  if(buffer==NULL) {
    
    
	  std::cout << "Can't malloc buffer."<<std::endl;
    dataFile.close();
	  exit(-1);
  }

  //read data as a block:
  dataFile.read(buffer, len);
  dataFile.close();

  *data = (void*)buffer;
  *length = len;
  return 0;  
}

调用方式

//load points cloud
  // 注意，bin文件存储格式为float32,如果其他类型读取数据不对。
  std::string dataFile = "****.bin"
  unsigned int length = 0;
  void *data = NULL;
  std::shared_ptr<char> buffer((char *)data, std::default_delete<char[]>());
  loadData(dataFile.data(), &data, &length);
  buffer.reset((char *)data);

  float* points = (float*)buffer.get();
  size_t points_size = length/sizeof(float)/4;