matlab bin转pcd ply

clc;
clear;
close all;
fileID=fopen('0000000000.bin','rb');
%以float32的格式将数据存放在列向量中
[a,count]=fread(fileID,'float32');
x = a(1:4:end)*100;
y = a(2:4:end)*100;
z = a(3:4:end)*100;
intensity= a(4:4:end)*100;
data = pointCloud([x y z ],'intensity',intensity);
pcshow(data);
pcwrite(data,'kitti109260.ply','PLYFormat','ascii');
img=pcread('kitti109260.ply');
%pcshow(img); %显示点云
pcwrite(img,'kitti109260.pcd');