C++ lvx解析并转化为pcd格式

以下是一个将lvx文件解析并转换为pcd格式的C++代码示例：

#include <iostream>
#include <fstream>
#include <vector>

#pragma pack(push, 1)

// lvx文件头
struct LVXHeader
{
    char magic[4];
    uint32_t version;
    uint32_t frame_count;
    uint32_t frame_offset;
    uint32_t reserved[4];
};

// 点云数据帧头
struct FrameHeader
{
    uint32_t frame_id;
    uint64_t timestamp;
    uint32_t point_count;
    uint32_t offset_to_point_data;
    uint32_t reserved[4];
};

// 点云数据
struct PointXYZ
{
    float x;
    float y;
    float z;
    uint8_t intensity;
    uint8_t ring;
    uint16_t reflectivity;
    uint16_t ambient;
    uint16_t reserved;
};

#pragma pack(pop)

int main()
{
    std::ifstream input("input.lvx", std::ios::binary);
    if (!input.is_open())
    {
        std::cerr << "Failed to open input file!\n";
        return -1;
    }

    // 读取lvx文件头
    LVXHeader header;
    input.read((char*)&header, sizeof(LVXHeader));
    if (std::string(header.magic, 4) != "LVX ")
    {
        std::cerr << "Invalid lvx file!\n";
        return -1;
    }

    // 读取点云数据
    std::vector<PointXYZ> points;
    for (int i = 0; i < header.frame_count; ++i)
    {
        // 读取帧头
        FrameHeader frame_header;
        input.seekg(header.frame_offset + i * sizeof(FrameHeader));
        input.read((char*)&frame_header, sizeof(FrameHeader));

        // 读取点云数据
        input.seekg(header.frame_offset + frame_header.offset_to_point_data);
        for (int j = 0; j < frame_header.point_count; ++j)
        {
            PointXYZ pt;
            input.read((char*)&pt, sizeof(PointXYZ));
            points.push_back(pt);
        }
    }

    // 将点云数据保存为pcd文件
    std::ofstream output("output.pcd");
    output << "# .PCD v0.7 - Point Cloud Data file format\n";
    output << "VERSION 0.7\n";
    output << "FIELDS x y z intensity ring reflectivity ambient\n";
    output << "SIZE 4 4 4 1 1 2 2\n";
    output << "TYPE F F F U U U U\n";
    output << "COUNT 1 1 1 1 1 1 1\n";
    output << "WIDTH " << points.size() << "\n";
    output << "HEIGHT 1\n";
    output << "VIEWPOINT 0 0 0 1 0 0 0\n";
    output << "POINTS " << points.size() << "\n";
    output << "DATA ascii\n";
    for (const auto& pt : points)
    {
        output << pt.x << " " << pt.y << " " << pt.z << " ";
        output << (int)pt.intensity << " " << (int)pt.ring << " ";
        output << pt.reflectivity << " " << pt.ambient << "\n";
    }

    std::cout << "Conversion finished!\n";
    return 0;
}

注意：这里的代码示例根据lvx文件的格式解析点云数据，需要确保输入的lvx文件格式和示例代码中的格式一致，否则需要根据实际情况进行修改。另外，这里只是将点云数据保存为ascii格式的pcd文件，实际上还可以将其保存为二进制格式的pcd文件。