#include <iostream>//标准输入输出流
#include <pcl/io/pcd_io.h>//PCL的PCD格式文件的输入输出头文件
#include <pcl/point_types.h>//PCL对各种格式的点的支持头文件
int main(int argc, char**argv)
{
pcl::PointCloud<pcl::PointXYZ>cloud;// 创建点云(不是指针)
//Fill in the cloud data
cloud.width = 5;
cloud.height = 1;
cloud.is_dense = false;//非密集型
cloud.points.resize(cloud.width*cloud.height);//变形,无序
//设置这些点的坐标
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);
}
//保存到PCD文件
pcl::io::savePCDFileASCII("test_pcd", cloud);//将点云保存到PCD文件中
std::cerr << "Saved" << cloud.points.size() << "data points to test_pcd.pcd" << std::endl;
//显示点云数据
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;
//waitKey(0);
system("pause");
return(0);
}
VS2013+opencv3.0
PCL_将点云数据写入PCD格式文件
最新推荐文章于 2024-07-17 10:09:06 发布