matlab保存点云数据_点云数据保存为pcd文件_pcd_write.cpp

#include

#include

#include

int

main (int argc, char** argv)

{

pcl::PointCloud<:pointxyz> cloud;

// Fill in the cloud data

cloud.width = 5;

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);

}

pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);

std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.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;

return (0);

}