用c语言将多个pcd文件提取非地面部分并保存为txt格式
时间: 2023-05-21 11:01:17 浏览: 62
您好,以下是用C语言将多个pcd文件提取非地面部分并保存为txt格式的代码示例:
#include <stdio.h>
#include <stdlib.h>
typedef struct {
float x, y, z;
float intensity;
} Point;
int main(int argc, char *argv[]) {
if (argc < 2) {
printf("Usage: %s <pcd_file1> <pcd_file2> ...\n", argv[0]);
return 1;
}
for (int i = 1; i < argc; i++) {
FILE *fp_in = fopen(argv[i], "rb");
if (!fp_in) {
printf("Failed to open file %s\n", argv[i]);
continue;
}
char filename_out[256];
sprintf(filename_out, "%s_non_ground.txt", argv[i]);
FILE *fp_out = fopen(filename_out, "w");
if (!fp_out) {
printf("Failed to create file %s\n", filename_out);
fclose(fp_in);
continue;
}
int num_points = 0;
fread(&num_points, sizeof(int), 1, fp_in);
Point *points = (Point*)malloc(num_points * sizeof(Point));
fread(points, sizeof(Point), num_points, fp_in);
for (int j = 0; j < num_points; j++) {
if (points[j].z > -1.3) { // threshold for ground removal
fprintf(fp_out, "%.3f %.3f %.3f %.3f\n", points[j].x, points[j].y, points[j].z, points[j].intensity);
}
}
free(points);
fclose(fp_in);
fclose(fp_out);
}
return 0;
}
该代码可以读取多个pcd文件,提取非地面部分并保存为txt格式。其中,提取非地面部分的阈值为-1.3,可以根据实际情况进行调整。
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