PCL：关于pcd数据显示乱码-CFANZ编程社区

将bin 格式的点云转换成pcd 的格式有可能乱码，需要将pcd 另存一份

代码在git 代码在git

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mian.cpp

#include <iostream>
#include <cstring>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>


bool LoadPCD(std::string filename,  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
{

    if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename, *cloud) == -1)
    {
      std::cout<< "can't read file " << filename << std::endl;
      return (-1);
    }
}



int main(int argc, char **argv) {
    std::cout << "Hello, world!" << std::endl;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_source(new pcl::PointCloud<pcl::PointXYZ>);

    //std::string filename = "/home/oem/lg/project/centerpoint_pro/python_center_point/pcd_data/show/temp1/a.pcd";
    std::string filename = "../a.pcd";
//        std::string filename = "../table_scene_lms400.pcd";

    LoadPCD(filename, cloud_source);
    std::cout << "PointCloud_source  has: " << cloud_source->points.size () << " data points." << std::endl;

    pcl::PCDWriter writer;
    std::stringstream ss;
    //ss << "/home/oem/lg/project/centerpoint_pro/python_center_point/pcd_data/show/temp1/a1.pcd";
    ss << "../a1.pcd";
    writer.write<pcl::PointXYZ> (ss.str (), *cloud_source, false); //*
    return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(bin2pcd)
 
find_package(PCL 1.2 REQUIRED)
 
# 加入Boost setting
find_package(Boost COMPONENTS program_options REQUIRED )
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(bin2pcd main.cpp)
 
target_link_libraries (bin2pcd ${PCL_LIBRARIES} ${Boost_LIBRARIES}) #此处也有修改
 
install(TARGETS bin2pcd RUNTIME DESTINATION bin)