C++ 读取二进制lvx格式点云文件并保存为pcd格式,不依赖SDK
时间: 2023-10-05 10:14:40 浏览: 61
读取二进制lvx格式点云文件并保存为pcd格式,可以通过以下步骤实现:
1. 打开lvx文件,读取文件头,获取点云数据的起始位置和点云数据的总大小。
2. 读取点云数据,将其解析为点的(x,y,z)坐标和颜色信息。
3. 将点云数据保存为pcd格式文件。
以下是示例代码:
```c++
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
using namespace std;
#pragma pack(push, 1)
struct PointXYZRGB
{
float x;
float y;
float z;
uint8_t r;
uint8_t g;
uint8_t b;
};
#pragma pack(pop)
int main()
{
string lvx_file_path = "input.lvx";
string pcd_file_path = "output.pcd";
// 打开lvx文件,读取文件头
ifstream lvx_file(lvx_file_path, ios::binary);
if (!lvx_file.is_open()) {
cerr << "Error: Unable to open file " << lvx_file_path << endl;
return -1;
}
lvx_file.seekg(80, ios::beg); // 文件头固定长度为80字节
uint64_t data_start_pos = 0;
uint64_t data_size = 0;
lvx_file.read((char*)&data_start_pos, sizeof(data_start_pos));
lvx_file.read((char*)&data_size, sizeof(data_size));
// 读取点云数据
lvx_file.seekg(data_start_pos, ios::beg);
vector<PointXYZRGB> points(data_size / sizeof(PointXYZRGB));
lvx_file.read((char*)points.data(), data_size);
lvx_file.close();
// 将点云数据保存为pcd格式文件
ofstream pcd_file(pcd_file_path);
pcd_file << "# .PCD v0.7 - Point Cloud Data file format\n";
pcd_file << "VERSION 0.7\n";
pcd_file << "FIELDS x y z rgb\n";
pcd_file << "SIZE 4 4 4 4\n";
pcd_file << "TYPE F F F U\n";
pcd_file << "COUNT 1 1 1 1\n";
pcd_file << "WIDTH " << points.size() << endl;
pcd_file << "HEIGHT 1\n";
pcd_file << "POINTS " << points.size() << endl;
pcd_file << "DATA ascii\n";
for (const auto& p : points) {
uint32_t rgb = (p.r << 16) | (p.g << 8) | p.b;
pcd_file << p.x << " " << p.y << " " << p.z << " " << rgb << endl;
}
pcd_file.close();
return 0;
}
```
注意:此代码仅供参考,具体实现可能因文件格式和数据结构而异。