将下列代码转为C++ # 打开PCD文件 with open("path/to/pointcloud.pcd", 'r') as file: # 读取文件内容 lines = file.readlines() # 获取点云数据开始的行数 data_start_line = lines.index("DATA ascii\n") + 1 # 存储点云数据的列表 points = [] # 解析数据行 for line in lines[data_start_line:]: values = line.split() point = [float(value) for value in values] points.append(point) # 将点云数据转换为Numpy数组 import numpy as np points_np = np.array(points) # 打印点云数据 print(points_np)

以下是将代码转换为C++的版本：

#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <string>
#include <algorithm>

using namespace std;

int main()
{
    // 打开PCD文件
    ifstream file("path/to/pointcloud.pcd");
    if (!file.is_open())
    {
        cerr << "Failed to open file!" << endl;
        return -1;
    }

    // 读取文件内容
    vector<string> lines;
    string line;
    while (getline(file, line))
    {
        lines.push_back(line);
    }

    // 获取点云数据开始的行数
    auto it = find(lines.begin(), lines.end(), "DATA ascii");
    if (it == lines.end())
    {
        cerr << "Failed to find DATA ascii!" << endl;
        return -1;
    }
    int data_start_line = distance(lines.begin(), it) + 1;

    // 存储点云数据的列表
    vector<vector<float>> points;

    // 解析数据行
    for (int i = data_start_line; i < lines.size(); ++i)
    {
        istringstream iss(lines[i]);
        vector<float> values;
        float value;
        while (iss >> value)
        {
            values.push_back(value);
        }
        points.push_back(values);
    }

    // 将点云数据转换为Numpy数组
    int num_points = points.size();
    int num_dims = points[0].size();
    vector<float> points_flat(num_points * num_dims);
    for (int i = 0; i < num_points; ++i)
    {
        for (int j = 0; j < num_dims; ++j)
        {
            points_flat[i * num_dims + j] = points[i][j];
        }
    }

    // 打印点云数据
    for (int i = 0; i < num_points; ++i)
    {
        for (int j = 0; j < num_dims; ++j)
        {
            cout << points[i][j] << " ";
        }
        cout << endl;
    }

    return 0;
}