【点云（一）】将KITTI数据集中点云文件.bin转换成.pcd

KITTI数据集下载：

https://pan.baidu.com/s/14WchJlcZ2guwcfbHqrdFw
密码：grys

关于KITTI数据集的介绍可以参考这篇博客：

https://blog.csdn.net/u013086672/article/details/103913361

以下部分均在点云数据集上做研究：

在ubuntu16.04下使用pcl将.bin文件转化为.pcd文件

具体流程:home→新建文件夹PointCloud→在PointCloud文件里继续新建文件夹bin2pcd→在bin2pcd文件夹里新建velodyne、build、bin2pcd.cpp、CMakeLists.txt（在该目录下打开终端输入命令：touch bin2pcd.cpp && CMakeLists.txt）→在新建的velodyne文件里，新建bin、pcd文件夹。
详情图如下：



紧接着步骤如下：
（1）在bin2pcd.cpp里添加代码：

#include <boost/program_options.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/point_operators.h>
#include <pcl/common/io.h>
#include <pcl/search/organized.h>
#include <pcl/search/octree.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/surface/gp3.h>
#include <pcl/io/vtk_io.h>
#include <pcl/filters/voxel_grid.h>
 
#include <iostream>
#include <fstream>
 
using namespace pcl;
using namespace std;
 
namespace po = boost::program_options;
 
int main(int argc, char **argv){
	///The file to read from.
	string infile;
 
	///The file to output to.
	string outfile;
 
	// Declare the supported options.
	po::options_description desc("Program options");
	desc.add_options()
		//Options
		("infile", po::value<string>(&infile)->required(), "the file to read a point cloud from")
		("outfile", po::value<string>(&outfile)->required(), "the file to write the DoN point cloud & normals to")
		;
	// Parse the command line
	po::variables_map vm;
	po::store(po::parse_command_line(argc, argv, desc), vm);
 
	// Print help
	if (vm.count("help"))
	{
		cout << desc << "\n";
		return false;
	}
 
	// Process options.
	po::notify(vm);
 
	// load point cloud
	fstream input(infile.c_str(), ios::in | ios::binary);
	if(!input.good()){
		cerr << "Could not read file: " << infile << endl;
		exit(EXIT_FAILURE);
	}
	input.seekg(0, ios::beg);
 
	pcl::PointCloud<PointXYZI>::Ptr points (new pcl::PointCloud<PointXYZI>);
 
	int i;
	for (i=0; input.good() && !input.eof(); i++) {
		PointXYZI point;
		input.read((char *) &point.x, 3*sizeof(float));
		input.read((char *) &point.intensity, sizeof(float));
		points->push_back(point);
	}
	input.close();
 
	cout << "Read KTTI point cloud with " << i << " points, writing to " << outfile << endl;
 
    pcl::PCDWriter writer;
 
    // Save DoN features
    writer.write<PointXYZI> (outfile, *points, false);
}

（2）CMakeLists.txt添加代码如下：

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 bin2pcd.cpp)
 
target_link_libraries (bin2pcd ${PCL_LIBRARIES} ${Boost_LIBRARIES}) #此处也有修改
 
install(TARGETS bin2pcd RUNTIME DESTINATION bin)

（3）然后再该目录下编译

cmake .
make

（4）继续执行

i=1;for x in /home/iv/PointCloud/bin2pcd/velodyne/bin/*.bin; do /home/iv/PointCloud/bin2pcd/build/bin2pcd --infile $x --outfile /home/iv/PointCloud/bin2pcd/velodyne/pcd/$i.pcd; let i=i+1; done

/home/iv/PointCloud/bin2pcd/velodyne/bin/*.bin：是储存 .bin文件的路径；
/home/iv/PointCloud/bin2pcd/build/bin2pcd 是可执行程序的路径；（此时需要将它移植到该路径下面）

/home/iv/PointCloud/bin2pcd/velodyne/pcd/$i.pcd 是转换后的.pcd文件的路径。

（5）打开点云图
可以在终端下输入命令：pcl_viewer 【pcd文件名】查看点云图