将点云数据写入pcd文件

代码：

#include <iostream> 
#include <pcl/io/pcd_io.h> //PCD文件输入输出头文件
#include <pcl/point_types.h> //各种点云格式的支持头文件


int  main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ> cloud;//创建点云对象
									
	cloud.width = 5; //设置点云宽度
	cloud.height = 1; //设置点云高度
	cloud.is_dense = false; //非密集型
	cloud.points.resize(cloud.width * cloud.height); 
	for (size_t i = 0; i < cloud.points.size(); ++i)//随机生成5个点云
	{
		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::savePCDFileASCII("test_pcd.pcd", cloud); //将点云数据保存到PCD文件中
	std::cerr << "Saved " << cloud.points.size() << " data points to test_pcd.pcd." << std::endl;
	
	//显示点云数据
	for (size_t i = 0; i < cloud.points.size(); ++i)
		std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

	system("pause");
	return 0;
}

 运行GIF：

 

参考官网