03-点云文件常用格式转换（pcd,txt,ply,obj,stl）

1.  pcd转txt

 1 #include <iostream>
 2 #include <fstream>
 3 #include <pcl/io/pcd_io.h>   
 4 
 5 int main(int argc, char *argv[])
 6 {
 7 
 8     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 9     pcl::io::loadPCDFile("rabbit.pcd", *cloud);
10 
11     std::ofstream outfile;
12     outfile.open("rabbit.txt");
13 
14     for (size_t i = 0; i < cloud->points.size(); i++) 
15     {
16         outfile << cloud->points[i].x << "\t" << cloud->points[i].y << "\t" << cloud->points[i].z << "\n";
17      }
18 
19     system("pause");
20 
21     return 0;
22 }

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