PCL——向PCD文件写入点云数据

1. 例程代码

• 以下代码均来源于PCL的官方教程，pcd_write.cpp：我使用的是VS2015编译
  https://pcl.readthedocs.io/projects/tutorials/en/master/writing_pcd.html#writing-pcd

• pcd_write.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>		//PCD I/O operations
#include <pcl/point_types.h>	//several point type structures

int main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud;

	// Fill in the cloud data
	cloud.width = 5;
	cloud.height = 1;
	cloud.is_dense = false;
	cloud.resize(cloud.width * cloud.height);

	//fill in the PointCloud structure with random point values
	for (auto& point : cloud)
	{
		point.x = 1024 * rand() / (RAND_MAX + 1.0f);
		point.y = 1024 * rand() / (RAND_MAX + 1.0f);
		point.z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	//保存PCD文件操作
	pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);
	std::cerr << "Saved " << cloud.size() << " data points to test_pcd.pcd." << std::endl;

	for (const auto& point : cloud)
		std::cerr << "    " << point.x << " " << point.y << " " << point.z << std::endl;

	system("Pause");

	return (0);
}