PCL——txt文件转到PCD文件

#include<iostream>  
#include<fstream>  
#include <string>  
#include <vector>  
#include <pcl/io/pcd_io.h>  
#include <pcl/point_types.h>  
  
using namespace std;  
  
typedef struct tagPOINT_3D  
{  
    double x;  //mm world coordinate x  
    double y;  //mm world coordinate y  
    double z;  //mm world coordinate z  
    double r;  
}POINT_WORLD;  
  
int main()  
{  
/加载txt数据  
    int number_Txt;  
    FILE *fp_txt;  
    tagPOINT_3D TxtPoint;  
    vector<tagPOINT_3D> m_vTxtPoints;  
    fp_txt = fopen("D:\\Program files\\Project\\Smoothing\\test_data0_DEM.txt", "r");  
  
    if (fp_txt)  
    {  
        while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF)  
        {  
            m_vTxtPoints.push_back(TxtPoint);  
        }  
    }  
    else  
        cout << "txt数据加载失败！" << endl;  
    number_Txt = m_vTxtPoints.size();  
    pcl::PointCloud<pcl::PointXYZ> cloud;  
  
  
    // Fill in the cloud data  
    cloud.width = number_Txt;  
    cloud.height = 1;     
    cloud.is_dense = false;  
    cloud.points.resize(cloud.width * cloud.height);  
  
  
    for (size_t i = 0; i < cloud.points.size(); ++i)  
    {  
        cloud.points[i].x = m_vTxtPoints[i].x;  
        cloud.points[i].y = m_vTxtPoints[i].y;  
        cloud.points[i].z = m_vTxtPoints[i].z;  
    }  
    pcl::io::savePCDFileASCII("D:\\Program files\\Project\\Smoothing\\test_data0_DEM.pcd", cloud);  
    std::cerr << "Saved " << cloud.points.size() << " data points to txt2pcd.pcd." << std::endl;  
  
  
    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;  
}