#include
#include
#include
#include
#include
#include?
using?namespace?std;

pcl::PointCloud?cloud;
void?write_pcd（double?arrry[]int?i）;

std::string?Txt_or_Asc_filename_;
std::string?pcd_filename_;
void
showHelp?（char?*filename）
{
??std::cout?<??std::cout?<??std::cout?<??std::cout?<??std::cout?<??std::cout?<??std::cout?<??std::cout?<??std::cout?<????}
int
main?（int?argc
??????char?*argv[]）
{
	??//顯示幫助菜單
??if?（pcl::console::find_switch?（argc?argv?“-h“）?||?argc???{
????showHelp?（argv[0]）;
????exit?（0）;
??}
???//獲取讀入，輸出文件名
??std::vector?filenames_out;
??filenames_out?=?pcl::console::parse_file_extension_argument?（argc?argv?“.pcd“）;
??if?（filenames_out.size?（）?!=?1）
??{
????std::cout?<????showHelp?（argv[0]）;
????exit?（-1）;
??}
??pcd_filename_?=?argv[filenames_out[0]];//輸出文件名

???std::vector?filenames_in;
??filenames_in?=?pcl::console::parse_file_extension_argument?（argc?argv?“.txt“）;
??if?（filenames_in.size?（）?!=?1）
??{
????std::cout?<????showHelp?（argv[0]）;
????exit?（-1）;
??}
??Txt_or_Asc_filename_?=?argv[filenames_in[0]];//讀入文件名
?
	ifstream?inFile;
	ifstream?fin;
	int??i=0Txt_size=0;
	double?xyzRGB;
	inFile.open（Txt_or_Asc_filename_）;
	if（!inFile.is_open（））
		cout<<“Open?Failed!“<	cout?<	while（!inFile.eof（））
	{
		inFile>>?x?>>?y?>>?z?>>?R?>>?G?>>?B;
		//cout?<		Txt_size++;
	}
	cout<
	cloud.width=Txt_size;
	cloud.height=1;
	cloud.points.resize（cloud.width*cloud.height）;
	inFile.close（）;

	fin.open（Txt_or_Asc_filename_）;
	if（!fin.is_open（））
		cout<<“Open?Failed!“<	while（!fin.eof（））
	{
		fin?>>?x?>>?y?>>?z?>>?R?>>?G?>>?B;
		
		cloud.points[i].x?=?x;
		cloud.points[i].y?=?y;
		cloud.points[i].z?=?z;
		cloud.points[i].r?=?R;
		cloud.points[i].g?=?G;
		cloud.points[i].b?=?B;
		i++;
	}
	pcl::io::savePCDFileASCII（pcd_filename_cloud）;
	cout<<“轉換的點云行數:“?<	return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-08-16?15:37??txt2pcd\
?????文件?????????103??2015-10-16?20:14??txt2pcd\0說明.txt
?????目錄???????????0??2016-08-16?15:42??txt2pcd\CMAKE\
?????文件??????274944??2015-10-25?13:06??txt2pcd\CMAKE\To_pcd.exe
?????文件?????1454316??2015-10-25?13:06??txt2pcd\CMAKE\To_pcd.ilk
?????文件?????4844544??2015-10-25?13:06??txt2pcd\CMAKE\To_pcd.pdb
?????文件???????36864??2015-10-25?13:06??txt2pcd\CMAKE\To_pcd.v11.suo
?????文件???????????9??2016-04-23?17:27??txt2pcd\CMAKE\_desktop.ini
?????目錄???????????0??2016-08-16?15:37??txt2pcd\source\
?????文件?????????301??2015-10-16?15:50??txt2pcd\source\CMakeLists.txt
?????文件?????????326??2015-04-23?10:32??txt2pcd\source\CMakeLists.txt.bak
?????文件????????2954??2015-10-25?13:05??txt2pcd\source\To_pcd.cpp
?????文件???????????9??2016-04-23?17:27??txt2pcd\source\_desktop.ini