利用vs pcl庫將多個PCD文件合並成一張PCD地圖

主機環境：win10系統，pcl庫1.11.1，

vs2019 pcl庫安裝以及環境配置如下連接：

https://www.jb51.net/article/190710.htm

代碼很簡單，主要是做個坐標轉換，如下：

#include <io.h> 
#include <fstream> 
#include <string> 
#include <vector> 
#include <iostream> 
#include <iostream> //標准輸入輸出流
#include <pcl/io/pcd_io.h> //PCL的PCD格式文件的輸入輸出頭文件
#include <pcl/point_types.h> //PCL對各種格式的點的支持頭文件
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/transforms.h>
#include <pcl/visualization/cloud_viewer.h>

using namespace std;

//獲取所有的文件名 
void GetAllFiles(string path, vector<string>& files)
{
    long   hFile = 0;
    //文件信息   
    struct _finddata_t fileinfo;
    string p;
    if ((hFile = _findfirst(p.assign(path).append("\\*").c_str(), &fileinfo)) != -1)
    {
        do
        {
            if ((fileinfo.attrib & _A_SUBDIR))
            {
                if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)
                {
                    files.push_back(p.assign(path).append("\\").append(fileinfo.name));

                    GetAllFiles(p.assign(path).append("\\").append(fileinfo.name), files);
                }
            }
            else
            {
                files.push_back(p.assign(path).append("\\").append(fileinfo.name));
            }
        } while (_findnext(hFile, &fileinfo) == 0);
        _findclose(hFile);
    }
}

//獲取特定格式的文件名 
void GetAllFormatFiles(string path, vector<string>& files, string format)
{
    //文件句柄   
    long long  hFile = 0;
    //文件信息   
    struct _finddata_t fileinfo;
    string p;
    if ((hFile = _findfirst(p.assign(path).append("\\*" + format).c_str(), &fileinfo)) != -1)
    {
        do
        {
            if ((fileinfo.attrib & _A_SUBDIR))
            {
                if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)
                {
                    //files.push_back(p.assign(path).append("\\").append(fileinfo.name) ); 
                    GetAllFormatFiles(p.assign(path).append("\\").append(fileinfo.name), files, format);
                }
            }
            else
            {
                files.push_back(p.assign(path).append("\\").append(fileinfo.name));
            }
        } while (_findnext(hFile, &fileinfo) == 0);
        _findclose(hFile);
    }
}

int main()
{
    string filePath = "C:\\Users\\CTOS\\Desktop\\newpcd";
    vector<string> files;
    const char* distAll = "*.pcd";
    string format = ".pcd";
    GetAllFormatFiles(filePath, files, format);
    ofstream ofn(distAll);
    int size = files.size();
    cout << size << endl;
    ofn << size << endl;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // 創建點雲（指針）
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_prt(new pcl::PointCloud<pcl::PointXYZ>); // 創建點雲（指針）
    pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>); // 創建點雲（指針）
    for (int i = 0; i < size; i++)
    {
        ofn << files[i] << endl;
        cout << files[i] << endl;
        if (pcl::io::loadPCDFile<pcl::PointXYZ>(files[i], *cloud_prt) == -1) //* 讀入PCD格式的文件，如果文件不存在，返回-1
        {
            cout << "Couldn't read file pcd \n"<< endl; //文件不存在時，返回錯誤，終止程序。
            return (-1);
        }
        Eigen::Vector4f p = cloud_prt->sensor_origin_.matrix();
        Eigen::Quaternionf q;
        q = cloud_prt->sensor_orientation_.matrix();
        Eigen::Vector3f eulerAngle = q.matrix().eulerAngles(2, 1, 0);
        Eigen::Affine3f transform = Eigen::Affine3f::Identity();
        transform.translation() << p[0], p[1], p[2];
        transform.rotate(q);
        std::cout << transform.matrix() << std::endl;
        pcl::transformPointCloud(*cloud_prt, *transformed_cloud, transform);
        *cloud += *transformed_cloud;
        cloud_prt->clear();
        transformed_cloud->clear();
        Sleep(1);
    }
    pcl::visualization::CloudViewer viewer("pcd viewer");
    viewer.showCloud(cloud);
    while (!viewer.wasStopped())
    {
    }
    ofn.close();
    return 0;
}

 最終效果：