Background Note:
According to specific business needs, collect point cloud data of some objects, and perform a series of operations such as filtering, filtering, segmentation, extraction, and splicing.
The data format that can be collected by using laser radar is: pcap, pcd
According to the experimental requirements, convert the above format into: csv, txt
use tools:
CloudCompare [point cloud processing] CloudCompare_v2.11.0_bin_x64-Other Document Resources-CSDN Download
step:
1. pcap to csv
Open veloView, toolbar file -> open -> capture file select pcap point cloud data,
Save as csv format: toolbar file -> save as -> save csv.
2. csv to pcd
Open CloudCompare, toolbar file -> open select csv file,
After the point cloud image is loaded, select the current point cloud data in the DB Tree on the left, and then file -> save to select the pcd format.
If the project needs to be converted by code:
[Image processing] vs2017 PCL csv to pcd_ranmaxli's Blog-CSDN Blog
3. pcd to txt
For the same reason, refer to step 2.
Open CloudCompare, toolbar file -> open select the pcd file,
After the point cloud image is loaded, select the current point cloud data in the DB Tree on the left, and then file -> save to select the txt format.