C++ 实现lvx点云格式转换pcd,不依赖第三方sdk,和运行示例

首先，需要了解lvx格式和pcd格式是什么。lvx格式是Livox激光雷达原始数据格式，包含了点云的XYZ、强度和角度等信息；pcd格式是点云库PCL使用的点云数据格式，包含了点云的XYZRGB、法向量、曲率等信息。

下面是C++实现lvx点云格式转换pcd的示例代码：

#include <iostream>
#include <fstream>

#pragma pack(push, 1)
struct LivoxPoint {
    float x;
    float y;
    float z;
    uint8_t intensity;
    uint16_t reflectivity;
    uint16_t ambient;
    uint16_t noise;
    uint8_t tag;
    uint8_t line_number;
    uint16_t valid;
};
#pragma pack(pop)

const int kLvxFrameSize = 1206 * 4;
const int kLvxBlockSize = 100;

bool ConvertLvxToPcd(const std::string& lvx_file, const std::string& pcd_file) {
    std::ifstream ifs(lvx_file, std::ios::binary);
    if (!ifs) {
        std::cerr << "Failed to open lvx file: " << lvx_file << std::endl;
        return false;
    }

    std::ofstream ofs(pcd_file, std::ios::binary);
    if (!ofs) {
        std::cerr << "Failed to open pcd file: " << pcd_file << std::endl;
        return false;
    }

    // Write pcd header
    ofs << "# .PCD v0.7 - Point Cloud Data file format\n";
    ofs << "VERSION 0.7\n";
    ofs << "FIELDS x y z intensity\n";
    ofs << "SIZE 4 4 4 1\n";
    ofs << "TYPE F F F U\n";
    ofs << "COUNT 1 1 1 1\n";
    ofs << "WIDTH 0\n";
    ofs << "HEIGHT 1\n";
    ofs << "VIEWPOINT 0 0 0 1 0 0 0\n";
    ofs << "POINTS 0\n";
    ofs << "DATA ascii\n";

    // Read lvx data
    char lvx_frame[kLvxFrameSize];
    LivoxPoint lvx_points[kLvxBlockSize];
    int point_count = 0;
    while (ifs.read(lvx_frame, kLvxFrameSize)) {
        memcpy(lvx_points, lvx_frame, kLvxBlockSize * sizeof(LivoxPoint));
        for (int i = 0; i < kLvxBlockSize; ++i) {
            if (lvx_points[i].valid) {
                float x = lvx_points[i].x / 1000.0f; // Convert from mm to m
                float y = lvx_points[i].y / 1000.0f;
                float z = lvx_points[i].z / 1000.0f;
                uint8_t intensity = lvx_points[i].intensity;
                ofs.write(reinterpret_cast<char*>(&x), sizeof(float));
                ofs.write(reinterpret_cast<char*>(&y), sizeof(float));
                ofs.write(reinterpret_cast<char*>(&z), sizeof(float));
                ofs.write(reinterpret_cast<char*>(&intensity), sizeof(uint8_t));
                ++point_count;
            }
        }
    }

    // Update pcd header
    ofs.seekp(0, std::ios::beg);
    ofs << "# .PCD v0.7 - Point Cloud Data file format\n";
    ofs << "VERSION 0.7\n";
    ofs << "FIELDS x y z intensity\n";
    ofs << "SIZE 4 4 4 1\n";
    ofs << "TYPE F F F U\n";
    ofs << "COUNT 1 1 1 1\n";
    ofs << "WIDTH " << point_count << "\n";
    ofs << "HEIGHT 1\n";
    ofs << "VIEWPOINT 0 0 0 1 0 0 0\n";
    ofs << "POINTS " << point_count << "\n";
    ofs << "DATA binary\n";

    return true;
}

int main(int argc, char* argv[]) {
    if (argc != 3) {
        std::cerr << "Usage: " << argv[0] << " lvx_file pcd_file" << std::endl;
        return 1;
    }

    if (!ConvertLvxToPcd(argv[1], argv[2])) {
        return 1;
    }

    return 0;
}

这段代码实现了将lvx格式的点云数据转换为pcd格式的点云数据，其中涉及到了文件读写、二进制数据处理和点云格式转换等知识点。需要注意的是，这段代码仅适用于Livox激光雷达的点云数据转换，其他类型的点云数据需要根据实际情况进行修改。