用PCL将文件夹下所有pcd存储成1个pcd文件

拼搏现实的明天。 2023-10-10 19:28 55阅读 0赞

读取的文件夹路径是：/home/user/pcd/  
生成的pcd文件名为：test\_pcd.pcd

### 源码如下 ###

#include <iostream>
    #include <pcl/common/common_headers.h>
    #include <pcl/io/pcd_io.h>
    #include <pcl/visualization/pcl_visualizer.h>
    #include <pcl/visualization/cloud_viewer.h>
    #include <pcl/console/parse.h>
     
     
    #include <string>
    #include <dirent.h>
    #include <stdio.h>
    #include <stdlib.h>
    #include <string.h>
    #include <vector>
    #include <iostream>
     using namespace std;
     
    const char* path = "/media/car/T7/addpoint/data/";
    void GetFileNames(string path,vector<string>& filenames)
    {
        
        DIR *pDir;
        struct dirent* ptr;
        if(!(pDir = opendir(path.c_str()))){
        
            std::cout<<"Folder doesn't Exist!"<<std::endl;
            return;
        }
        while((ptr = readdir(pDir))!=0) {
        
            if (strcmp(ptr->d_name, ".") != 0 && strcmp(ptr->d_name, "..") != 0){
        
                filenames.push_back(path + "/" + ptr->d_name);
                //std::cout<<path + "/" + ptr->d_name<<endl;
        }
        }
        closedir(pDir);
    }
     
     
     
    int main(int argc, char** argv) {
        
    	pcl::PointCloud<pcl::PointXYZ>::Ptr cloudadd(new pcl::PointCloud<pcl::PointXYZ>);
    	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    	//pcl::io::loadPCDFile("./test1.pcd", *cloud);
     
     
    	DIR *pDir;
        struct dirent* ptr;
        if(!(pDir = opendir("/home/user/pcd/"))){
        
            std::cout<<"Folder doesn't Exist!"<<std::endl;
            return -1;
        }
        while((ptr = readdir(pDir))!=0) {
        
            if (strcmp(ptr->d_name, ".") != 0 && strcmp(ptr->d_name, "..") != 0){
        
                //filenames.push_back(path + "/" + ptr->d_name);
    			pcl::io::loadPCDFile("/home/user/pcd/" + string(ptr->d_name), *cloud);
    			*cloudadd = *cloudadd + *cloud;
    			cloud->clear();
                //std::cout<<path + "/" + ptr->d_name<<endl;
        }
        }
        closedir(pDir);
     
    	pcl::io::savePCDFileBinary("test_pcd.pcd", *cloudadd);
    	return 0;
     
    }

### CMakeLists.txt如下 ###

cmake_minimum_required(VERSION 2.8)
    project(pcl_test)
     
    # 设置编译模式
    set( CMAKE_BUILD_TYPE "Debug" )
    set(CMAKE_CXX_FLAGS   "-std=c++11")
    set(PCL_DIR "/usr/share/pcl-1.9")
    find_package(PCL)
     
     
    include_directories(${
        PCL_INCLUDE_DIRS})
    link_directories(${
        PCL_LIBRARY_DIRS})
    add_definitions(${
        PCL_DEFINITIONS})
     
    add_executable(pcl_test addpoints.cpp)
     
    target_link_libraries (pcl_test ${
        PCL_LIBRARIES} ${
        OpenCV_LIBS})