03点云文件常用格式转换（pcd,txt,ply,obj,stl）

1.  pcd转txt

#include <iostream>
#include <fstream>
#include <pcl/io/pcd_io.h>   

int main(int argc, char *argv[])
{

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile("rabbit.pcd", *cloud);

    std::ofstream outfile;
    outfile.open("rabbit.txt");

    for (size_t i = 0; i < cloud->points.size(); i++) 
    {
        outfile << cloud->points[i].x << "\t" << cloud->points[i].y << "\t" << cloud->points[i].z << "\n";
     }

    system("pause");

    return 0;
}

2. txt转pcd

#include <iostream>
#include <fstream>
#include <pcl\io\pcd_io.h>

int main() 
{
    std::ifstream infile;
    infile.open("rabbit.txt");

    float x, y, z;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    
    while (infile >> x >> y >> z) 
    {
        cloud->push_back(pcl::PointXYZ(x, y, z));
    }

    // 保存为二进制格式
    //pcl::io::savePCDFileBinary("rabbit_new.pcd", *cloud);

    // 保存为ASCII格式
    pcl::io::savePCDFileASCII("rabbit_new.pcd", *cloud);

    system("pause");

    return 0;
}

 3. pcd转ply

#include <iostream>
#include <pcl\io\pcd_io.h>
#include <pcl\io\ply_io.h>
#include <pcl\point_types.h>

int main() 
{
    
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile("rabbit.pcd", *cloud);

    pcl::io::savePLYFile("rabbit.ply", *cloud);

    system("pause");

    return 0;
}

4.ply 转pcd

#include <iostream>
#include <pcl\io\pcd_io.h>
#include <pcl\io\ply_io.h>
#include <pcl\point_types.h>

int main() 
{
    
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    pcl::io::loadPLYFile("rabbit.ply", *cloud);


    pcl::io::savePCDFileBinary("rabbit.pcd", *cloud);

    system("pause");

    return 0;
}

5. obj/ply转pcd

参见：https://blog.csdn.net/taifyang/article/details/116382273?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162746031516780261991459%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=162746031516780261991459&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_v2~rank_v29-8-116382273.first_rank_v2_pc_rank_v29&utm_term=pcd%E8%BD%ACnpy&spm=1018.2226.3001.4187

obj/ply转pcd（均匀采样）