点云库PCL学习笔记 -- 输入输出IO -- 2.向PCD文件中写入点云数据

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写入PCD文件代码pcd_write.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int
main(int argc,char**argv)
{
	//生成一个点云实例cloud
	pcl::PointCloud<pcl::PointXYZ> cloud;
	
	//创建点云的数据
	cloud.width=5;
	cloud.height=1;
	cloud.is_dense=false;
	cloud.points.resize(cloud.width*cloud.height);

	//以随机数的方式写入点云文件
	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);
	}

	//把PointCloud对象数据储存在test_pcd.pcd文件中
	pcl::io::savePCDFileASCII("test_pcd.pcd",cloud);

	//打印输出储存的点云数据
	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);
}

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设置编译文件CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(pcd_write)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcd_write pcd_write.cpp)
target_link_libraries(pcd_write ${PCL_LIBRARIES})

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编译

mkdir build
cd build/
cmake ..
make

执行程序

cd ..
./build/pcd_write

结果如下

工程目录中会多出一个test_pcd.pcd的点云文件

使用pcl_viewer test_pcd.pcd查看该PCD文件，5个点的图像数据

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