PCD文件操作

1.PCD文件的创建

    pcl::PointCloud<pcl::PointXYZ> cloud;
    // Fill in the cloud data
    cloud.width = 500;
    cloud.height = 200;
    cloud.is_dense = false;
    cloud.points.resize(cloud.width * cloud.height);
    for (std::size_t i = 0; i < cloud.points.size(); ++i)
    {
        cloud.points[i].x =2 * rand() / (RAND_MAX + 1.0f);
        cloud.points[i].y =2 * rand() / (RAND_MAX + 1.0f);
        cloud.points[i].z = 2 * rand() / (RAND_MAX + 1.0f);
    }
    pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);

2.PCD文件的读取

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("test_pcd.pcd", *cloud) == -1) //* load the file
    {
        PCL_ERROR("Couldn't read file test_pcd.pcd \n");
        return (-1);
    }

3.点云数据的显示

    pcl::visualization::CloudViewer viewer("Cloud Viewer");
    viewer.showCloud(cloud);
    while(!viewer.wasStopped())
    {
    }