点云TXT转化为pcd格式

// changepcd.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include <pcl/io/pcd_io.h>
#include<iostream>
using namespace std;
int numofPoints(char* fname){
    int n=0;
    int c=0;
    FILE *fp;
    fp = fopen(fname,"r");
    do{
        c = fgetc(fp);
        if(c == '\n'){
            ++n;
        }
    }
    while(c != EOF);
    fclose(fp);
    return n;
}
int main()
{
   int n = 0; //n用来计文件中点个数    
    FILE *fp_1;
    fp_1 = fopen("cat.txt","r");
    n = numofPoints("cat.txt");//使用numofPoints函数计算文件中点个数
    std::cout << "there are "<<n<<" points in the file..." <<std::endl;
    //新建一个点云文件，然后将结构中获取的xyz值传递到点云指针cloud中。
    pcl::PointCloud<pcl::PointXYZ> cloud;
    cloud.width    = n;
    cloud.height   = 1;
    cloud.is_dense = false;
    cloud.points.resize (cloud.width * cloud.height);
    //将点云读入并赋给新建点云指针的xyz    
    double x,y,z;
    int i = 0;
    while(3 ==fscanf(fp_1,"%lf,%lf,%lf\n",&x,&y,&z)){
        cout<<x<<" "<<y<<" "<<z<<endl;
        cloud.points[i].x = x;
        cloud.points[i].y = y;
        cloud.points[i].z = z;
        ++i;
    }
    fclose(fp_1);
    //将点云指针指向的内容传给pcd文件

    pcl::io::savePCDFileASCII ("yulan_tree_01.pcd", cloud);

    std::cerr <<"Saved " << cloud.points.size () <<" data points to test_pcd.pcd." << std::endl;
	system("pause");
  return 0;
}