pcl读取pcd文件并显示，kitti数据集bin与pcd文件互相转换

#include <iostream> //标准输入输出流
#include <pcl/io/pcd_io.h> //PCL的PCD格式文件的输入输出头文件
#include <pcl/point_types.h> //PCL对各种格式的点的支持头文件
#include <pcl/visualization/cloud_viewer.h>//点云查看窗口头文件
int main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // 创建点云（指针）

    if (pcl::io::loadPCDFile<pcl::PointXYZ>("D:\\bun0.pcd", *cloud) == -1) //* 读入PCD格式的文件，如果文件不存在，返回-1
    {
        PCL_ERROR("Couldn't read file test_pcd.pcd \n"); //文件不存在时，返回错误，终止程序。
        return (-1);
    }
    pcl::visualization::CloudViewer viewer("Simple Cloud Viewer");//直接创造一个显示窗口
    viewer.showCloud(cloud);//再这个窗口显示点云
    while (!viewer.wasStopped())
    {
    }
    return (0);
}

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>//标准C++库中的输入输出类相关头文件。
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>//pcd 读写类相关的头文件。
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h> //PCL中支持的点类型头文件。
#include <boost/random.hpp>  //高斯噪点测试
#include <fstream>  
#include <string>  
#include <vector> 
#include <pcl/features/integral_image_normal.h>
#include <pcl/features/normal_3d.h>
using namespace std;
//读取了反射强度
void bin2pcdR(const char *filenameInput, const char *filenameOutput) {//批量转换，filenameList用于保存文件名
	int32_t num = 1000000;
	float *data = (float*)malloc(num * sizeof(float));
	// 点
	float *px = data + 0;
	float *py = data + 1;
	float *pz = data + 2;
	float *pr = data + 3;//反射强度
	// 读取点云数据
	FILE *stream;
	fopen_s(&stream, filenameInput, "rb");
	num = fread(data, sizeof(float), num, stream) / 4;//读入点云数据，大概10万+个点
	fclose(stream);
	//转换成PCD
	//写文件声明
	/*string previous = "G:/pcl_source/pcl_test/pcl_test/pcd/data/00000000";
	string tmp1 = previous.append(to_string(version));
	string tmp2 = tmp1.append(".pcd");
	const char* outputFilename = tmp2.c_str();*/
	FILE *writePCDStream;
	fopen_s(&writePCDStream, filenameOutput, "wb");
	fprintf(writePCDStream, "VERSION 0.7\n");//版本说明
	fprintf(writePCDStream, "FIELDS x y z intensity\n");//维度说明
	fprintf(writePCDStream, "SIZE 4 4 4 4\n");//占用字节说明
	fprintf(writePCDStream, "TYPE F F F F\n");//具体数据类型定义
	fprintf(writePCDStream, "WIDTH %d\n", num);//点数量
	fprintf(writePCDStream, "HEIGHT 1\n");//无序点云默认为1
	fprintf(writePCDStream, "POINTS %d\n", num);//点数量
	fprintf(writePCDStream, "DATA ascii\n");//文档使用字符类型shuom
	//写点云数据
	for (int32_t i = 0; i < num; i++)
	{
		fprintf(writePCDStream, "%f %f %f %f\n", *px, *py, *pz, *pr);
		px += 4; py += 4; pz += 4; pr += 4;
	}
	fclose(writePCDStream);
}

#include <omp.h>
#include <ctime>
#include <vector>
#include <string>
#include <algorithm>

#include <pcl/io/pcd_io.h>
#include <pcl/common/common_headers.h>

#include <sys/stat.h>

#include <pcl/io/boost.h>
#include <boost/program_options.hpp>

#include <fstream>



void convertPCDtoBin(std::string &in_file, std::string& out_file)
{
	pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);

	if (pcl::io::loadPCDFile<pcl::PointXYZI>(in_file, *cloud) == -1) //* load the file
	{
		std::string err = "Couldn't read file " + in_file;
		PCL_ERROR(err.c_str());
		return;// (-1);
	}
	std::cout << "Loaded "
		<< cloud->width * cloud->height
		<< " data points from "
		<< in_file
		<< " with the following fields: "
		<< std::endl;

	std::ofstream myFile(out_file.c_str(), std::ios::out | std::ios::binary);
	for (int j = 0; j < cloud->size(); j++) {

		myFile.write((char*)& cloud->at(j).x, sizeof(cloud->at(j).x));
		myFile.write((char*)& cloud->at(j).y, sizeof(cloud->at(j).y));
		myFile.write((char*)& cloud->at(j).z, sizeof(cloud->at(j).z));
		myFile.write((char *)& cloud->at(j).intensity, sizeof(cloud->at(j).intensity));
		//myFile << cloud->at(j).x << " " << cloud->at(j).y << " " << cloud->at(j).z << endl;
	}
	myFile.close();
}