#include?“Comprocess.h“
#include?“config.h“
#include
#include
#include
Comprocess::Comprocess（）
{
}


Comprocess::~Comprocess（）
{
}

int?Comprocess::executebin2pcd（char?*source_dir）?{
	listFiles（source_dir）;
	for?（int?i?=?0;?i?		bin2pcd（source_dir?filelist[i]）;
	}
	return?1;
}
vector?Comprocess::listFiles（const?char?*?dir）
{
	char?dirNew[200];
	strcpy（dirNew?dir）;
	strcat（dirNew?“\\*.*“）;????//?

	intptr_t?handle;
	_finddata_t?findData;

	handle?=?_findfirst（dirNew?&findData）;
	if?（handle?==?-1）????????//?
		return?filelist;

	do
	{
		if?（findData.attrib?&?_A_SUBDIR）
		{
			if?（strcmp（findData.name?“.“）?==?0?||?strcmp（findData.name?“..“）?==?0）
				continue;

			cout?<\n“;

			//?
			strcpy（dirNew?dir）;
			strcat（dirNew?“\\“）;
			strcat（dirNew?findData.name）;

			listFiles（dirNew）;
		}
		else?{
			//cout?<			filelist.push_back（findData.name）;
		}
	}?while?（_findnext（handle?&findData）?==?0）;

	_findclose（handle）;????//?
	return?filelist;
}

void?Comprocess::bin2pcd（const?char?*?dir?const?string?filename）?{
	string?inputfilename?=?filename;
	inputfilename?=?inputfilename.insert（0?dir）;
	const?char*?inptfile?=?inputfilename.data（）;
	int32_t?num?=?1000000;
	float?*data?=?（float*）malloc（num?*?sizeof（float））;
	//?
	float?*px?=?data?+?0;
	float?*py?=?data?+?1;
	float?*pz?=?data?+?2;
	float?*pr?=?data?+?3;//
	//?
	FILE?*stream;
	fopen_s（&stream?inptfile?“rb“）;
	num?=?fread（data?sizeof（float）?num?stream）?/?4;//
	fclose（stream）;
	int32_t?after_erase_num?=?0;
	int?distance_threshold=20;
	float?*px_t?=?px;
	float?*py_t?=?py;
	float?*pz_t?=?pz;
	float?*pr_t?=?pr;//
	for?（int32_t?i?=?0;?i?	{	
		//setting?a?threshold?according?to?the?distance?between?the?point?and?centre?to?decrease?the?points?
		double?distance?=?sqrt（（*px_t）*（*px_t）?+?（*py_t）*（*py_t）?+?（*pz_t）*（*pz_t））;
		if?（distance?			after_erase_num?+=?1;
		}
		px_t?+=?4;?py_t?+=?4;?pz_t?+=?4;?pr_t?+=?4;

	}
	const?char*?outfile;
	string?outputfilename?=?filename;
	outputfilename?=?outputfilename.replace（outputfilename.find（“.“）?+?1?3?“pcd“）;
	outfile?=?outputfilename.insert（0?PCD_OUTPUT_PATH）.data（）;
	FILE?*writePCDStream;
	fopen_s（&writePCDStream?outfile?“wb“）;
	fprintf（writePCDStream?“VERSION?0.7\n“）;//
	fprintf（writePCDStream?“FIELDS?x?y?z\n“）;//
	fprintf（writePCDStream?“SIZE?4?4?4\n“）;//
	fprintf（writePCDStream?“TYPE?F?F?F\n“）;//
	fprintf（writePCDStream?“WIDTH?%d\n“?after_erase_num）;//
	fprintf（writePCDStream?“HEIGHT?1\n“）;//
	fprintf（writePCDStream?“POINTS?%d\n“?after_erase_num）;//
	fprintf（writePCDStream?“DATA?ascii\n“）;//
	
	for?（int32_t?i?=?0;?i?	{
		double?distance?=?sqrt（（*px）*（*px）?+?（*py）*（*py）?+?（*pz）*（*pz））;
		if?（distance?			fprintf（writePC

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????2382??2020-02-17?19:50??mapping.cpp

?????文件?????176684??2013-10-31?18:58??07.txt

?????文件???????3987??2020-02-17?19:34??Comprocess.cpp

?????文件????????602??2020-02-17?17:23??Comprocess.h

?????文件?????????80??2020-02-16?12:41??config.cpp

?????文件????????447??2020-02-17?19:35??config.h

?????文件????8521096??2020-02-17?19:10??map.pcd

-----------?---------??----------?-----??----

??????????????8705278????????????????????7