| 28 | size_t size() const { return num_frames_; } |
| 29 | |
| 30 | typename pcl::PointCloud<T>::ConstPtr cloud(size_t i) const { |
| 31 | std::string filename = (boost::format("%s/%06d.bin") % pcd_path_ % i).str(); |
| 32 | FILE *file = fopen(filename.c_str(), "rb"); |
| 33 | if (!file) { |
| 34 | std::cerr << "error: failed to load " << filename << std::endl; |
| 35 | return nullptr; |
| 36 | } |
| 37 | |
| 38 | std::vector<float> buffer(1000000); |
| 39 | size_t num_points = |
| 40 | fread(reinterpret_cast<char *>(buffer.data()), sizeof(float), buffer.size(), file) / 4; |
| 41 | fclose(file); |
| 42 | |
| 43 | pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>()); |
| 44 | cloud->resize(num_points); |
| 45 | |
| 46 | for (int i = 0; i < num_points; i++) { |
| 47 | auto &pt = cloud->at(i); |
| 48 | pt.x = buffer[i * 4]; |
| 49 | pt.y = buffer[i * 4 + 1]; |
| 50 | pt.z = buffer[i * 4 + 2]; |
| 51 | // pt.intensity = buffer[i * 4 + 3]; |
| 52 | } |
| 53 | |
| 54 | return cloud; |
| 55 | } |
| 56 | |
| 57 | private: |
| 58 | int num_frames_; |