点云：pcd文件转OBJ文件

#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/PolygonMesh.h>

int main(int argc, char** argv)
{
	// 读取pcd文件
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("dianyun.pcd", *cloud);
    
    // 转换成mesh
	pcl::PolygonMesh mesh;
	pcl::toPCLPointCloud2(*cloud, mesh.cloud);
    
    // 储存到obj文件
	pcl::io::saveOBJFile("dianyun.obj", mesh);

	return 0;
}

CMakeLists.txt: 

cmake_minimum_required(VERSION 2.6)
project(pcd_obj)
 
find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(pcd_obj pcd_obj.cpp)
 
target_link_libraries (pcd_obj ${PCL_LIBRARIES})