PCL生成.PCD文件

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <opencv2/core/core.hpp>

#include <string>
using namespace std;

int main( )
{
    string setting_file("setting.yaml");  // The only lateral
    cv::FileStorage fs;
    fs.open( setting_file.c_str( ), cv::FileStorage::READ );

    pcl::PointCloud< pcl::PointXYZ > cloud;

    // Fill in the cloud data
    cloud.width = 50;
    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 = 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 );
    }

    string PCDPath = fs["PCDPath"];
    pcl::io::savePCDFileASCII( PCDPath, cloud );

    return 0;
}