Unknown point cloud structure file conversion requirements

Description of Requirements

• There is a collection of point clouds, binary, with fields of unconventional types.

• But it can be seen that there are a total of 6 fields, two of which are _, and there is no specific field.

• Now remove these two unknown fields and keep the remaining 4 fields x y z intensity.

Format conversion

In the same way, the point cloud file conversion is realized by customizing the point type.

When defining a point type, setting the dash type to int or string has no effect on the result.

struct MyPointType //Define point type structure{PCL_ADD_POINT4D; //The point type has 4 elements/* try to add a custom */unsigned m; //Define your own new type name//Tested adding so many is no problemfloat intensity;unsigned k;EIGEN_MAKE_ALIGNED_OPERATOR_NEW //Ensure new operator alignment operation}EIGEN_ALIGN16; //Force SSE alignmentPOINT_CLOUD_REGISTER_POINT_STRUCT(MyPointType, //Register point type macro(float,x,x)(float,y,y)(float ,z,z)(unsigned char ,m,m)(float ,intensity,intensity)(unsigned ,k,k))

The main code is as follows, which can realize batch conversion of all point cloud files in the folder:

/** @Description:* @version: 1.0.0* @Author: qianchengjun* @Date: 2022-02-22 14:33:45* @LastEditors: qianchengjun* @LastEditTime: 2022-02-22 16:49:34*/#include #include #include #include #include #include #include #include #include #include using namespace std;void ConvertPCD(std::string file){pcl::PointCloud cloudsrc;pcl::PointCloud cloudtar;if (pcl::io::loadPCDFile(file, cloudsrc) == -1){PCL_ERROR("Couldn'n read file! \n");return;}std::cout << cloudsrc.points.size() << std::endl;for (size_t i = 0; i < cloudsrc.points.size(); i++){pcl::PointXYZI pt;pt.x = cloudsrc[i].x;pt.y = cloudsrc[i].y;pt.z = cloudsrc[i].z;pt.intensity = cloudsrc[i].intensity;cloudtar.push_back(pt);}std::string newfile = file.replace(file.rfind(".pcd"),4,"_new.pcd");pcl::PCDWriter writer;writer.write (newfile, cloudtar, true); // save the file}int main(int argc, char** argv){// target folder pathstd::string folder = "/home/qiancj/Documents/M1/Underground_Garage/4.5mleft_head/";vector files;getFiles(folder.c_str(), files);for_each(files.begin(), files.end(), [](const string &file){ConvertPCD(file);cout << "finish convert file: " << file << endl; });return 0;}

The result is as follows:

All newly converted files are named "XXXXX_new.pcd"