PCL学习笔记——读入txt格式点云数据，写入到PCD文件中

读入txt格式点云数据，写入PCD文件中

// An highlighted block
// pointclouds_octree.cpp: 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include<iostream>
#include<fstream>
#include<opencv.hpp>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>

using namespace std;
using namespace cv;

int main()
{
	fstream file_name1, file_name2;
	file_name1.open("Result3D_end42.txt");
	file_name2.open("Result3D_end52.txt");

	pcl::PointCloud<pcl::PointXYZ> cloudA;
	pcl::PointCloud<pcl::PointXYZ> cloudB;
	
	cloudA.width = 230088;
	cloudA.height = 1;
	cloudA.is_dense = false;
	cloudA.points.resize (cloudA.width*cloudA.height);

	cloudB.width = 250025;
	cloudB.height = 1;
	cloudB.is_dense = false;  //点云密度，非密集型
	cloudB.points.resize (cloudB.width*cloudB.height);

	Vec3d dd;
	for (size_t i = 0; i < cloudA.points.size(); i++) {
		file_name1 >> dd[0];
		file_name1 >> dd[1];
		file_name1 >> dd[2];

		cloudA.points[i].x = dd[0];
		cloudA.points[i].y = dd[1];
		cloudA.points[i].z = dd[2];
	}
	for (size_t j = 0; j < cloudB.points.size(); j++) {
		file_name2 >> dd[0];
		file_name2 >> dd[1];
		file_name2 >> dd[2];

		cloudB.points[j].x = dd[0];
		cloudB.points[j].y = dd[1];
		cloudB.points[j].z = dd[2];
	}

	pcl::io::savePCDFileASCII("pointA.pcd", cloudA);
	pcl::io::savePCDFileASCII("pointB.pcd", cloudB);

    return 0;
}