pcd中 毫米转为米

pcd中 毫米转为米

package com.vfsd.core;

import java.io.BufferedReader;
import java.io.BufferedWriter;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;

public class ReadPCDAndWritePCD {
    
    private static String headerStr = "# .PCD v0.7 - Point Cloud Data file format\r\n" + 
            "VERSION 0.7\r\n" + 
            "FIELDS x y z rgb\r\n" + 
            "SIZE 4 4 4 4\r\n" + 
            "TYPE F F F U\r\n" + 
            "COUNT 1 1 1 1\r\n" + 
            "WIDTH 1280\r\n" + 
            "HEIGHT 720\r\n" + 
            "VIEWPOINT 0 0 0 1 0 0 0\r\n" + 
            "POINTS 921600\r\n" + 
            "DATA ascii";
    
    public static void main(String[] args) {
        String pcdPath = "F:\\PytorchProject\\yolov5-master_2022040401\\data\\out_2022040519";
        String outputPath ="G:\\PCL_data\\2022040502";
        
        listAllPCD( pcdPath, outputPath);
        
    }
    
    public static void listAllPCD(String pcdPath,String outputPath) {
        File dirFile = new File(pcdPath);
        if(dirFile.isDirectory()) {
            File[] listFiles = dirFile.listFiles();
            for(File indxFile:listFiles) {
                String pcdName = indxFile.getName();
                
                if(!pcdName.endsWith(".txt")) {
                    continue;
                }
                System.out.println(pcdName);
                String outputFileName = outputPath + File.separator+pcdName.replace(".txt", ".pcd");
                
                File newFile = new File(outputFileName);
                try {
                    readAndWriteData( indxFile, newFile);
                } catch (IOException e) {
                    // TODO Auto-generated catch block
                    e.printStackTrace();
                }
                
            }
        }
    }
    
    public static void readAndWriteData(File oldFile,File newFile) throws IOException {
        
        FileReader fileReaderObj = new FileReader(oldFile);
        BufferedReader bufferedReaderObj = new BufferedReader(fileReaderObj);
        
        FileWriter fileWriterObj = new FileWriter(newFile);
        BufferedWriter bufferedWriterObj = new BufferedWriter(fileWriterObj);
        
        //写入头文件
        bufferedWriterObj.write(headerStr+"\n");
        
        String lineStr = "";
        while((lineStr=bufferedReaderObj.readLine())!=null) {
            //-31370.820999145508 -19133.3065032959 46696.00296020508 169.0 173.0 172.0
            String[] line_strs = lineStr.split(" ");
            double x = Double.parseDouble(line_strs[0])*0.001;
            double y = Double.parseDouble(line_strs[1])*0.001;
            double z = Double.parseDouble(line_strs[2])*0.001;
            
            String newLineStr = x+" "+y+" "+z+" "+line_strs[3]+" "+line_strs[4]+" "+line_strs[5];
            
            bufferedWriterObj.write(newLineStr+"\n");
        }
        
        bufferedWriterObj.flush();
        bufferedWriterObj.close();
        fileWriterObj.close();
        
        bufferedReaderObj.close();
        fileReaderObj.close();
        
    }

}

 

 

 

 

 

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