#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int main(int argc, char **argv) {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
cloud->width = 100;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);
for (size_t i = 0; i < cloud->points.size(); ++i)
{
cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
pcl::io::savePCDFile<pcl::PointXYZ>("../write.pcd", *cloud);
return 0;
}
这个还是挺简单的,可以在终端中用cat命令输出文件内容,可以看到具体的格式如下图所示,包括版本号,区域,尺寸,具体就不一一解释啦!