PCL两种方式的点云读写

首先第一种读取方式使用reader

#include <pcl/point_types.h>//PCL对各种格式的点的支持头文件
#include <pcl/io/pcd_io.h>//PCL的PCD格式文件的输入输出头文件
#include <pcl/kdtree/kdtree_flann.h>
typedef pcl::PointXYZI PointT;
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);	// Generate pointcloud data，新建指针cloud存放点云	
pcl::PCDReader reader;	
reader.read<pcl::PointXYZI>("1.pcd", *cloud);//读取1.pcd文件，用指针传递给cloud。
std::cout << "Loaded "
            << cloud->width * cloud->height
            << " data points from test_pcd.pcd with the following fields: "
            << std::endl;
  for (std::size_t i = 0; i < cloud->points.size (); ++i)
  {
    std::cout << "    " << cloud->points[i].x
              << " "    << cloud->points[i].y
              << " "    <&