// changepcd.cpp : 定义控制台应用程序的入口点。
//
#include "stdafx.h"
#include <pcl/io/pcd_io.h>
#include<iostream>
using namespace std;
int numofPoints(char* fname){
int n=0;
int c=0;
FILE *fp;
fp = fopen(fname,"r");
do{
c = fgetc(fp);
if(c == '\n'){
++n;
}
}
while(c != EOF);
fclose(fp);
return n;
}
int main()
{
int n = 0; //n用来计文件中点个数
FILE *fp_1;
fp_1 = fopen("cat.txt","r");
n = numofPoints("cat.txt");//使用numofPoints函数计算文件中点个数
std::cout << "there are "<<n<<" points in the file..." <<std::endl;
//新建一个点云文件，然后将结构中获取的xyz值传递到点云指针cloud中。
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.width = n;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize (cloud.width * cloud.height);
//将点云读入并赋给新建点云指针的xyz
double x,y,z;
int i = 0;
while(3 ==fscanf(fp_1,"%lf,%lf,%lf\n",&x,&y,&z)){
cout<<x<<" "<<y<<" "<<z<<endl;
cloud.points[i].x = x;
cloud.points[i].y = y;
cloud.points[i].z = z;
++i;
}
fclose(fp_1);
//将点云指针指向的内容传给pcd文件
pcl::io::savePCDFileASCII ("yulan_tree_01.pcd", cloud);
std::cerr <<"Saved " << cloud.points.size () <<" data points to test_pcd.pcd." << std::endl;
system("pause");
return 0;
}
