向pcd文件写入点云数据

主要从《点云库pcl学习教程》这本书中摘录的，把学到的东西简单的记下，方便以后查找。

/** \brief Save point cloud data to a PCD file containing n-D points
      * \param[in] file_name the output file name
      * \param[in] cloud the point cloud data message
      * \param[in] origin the sensor acquisition origin
      * \param[in] orientation the sensor acquisition orientation
      * \param[in] binary_mode true for binary mode, false (default) for ASCII
      *
      * Caution: PointCloud structures containing an RGB field have
      * traditionally used packed float values to store RGB data. Storing a
      * float as ASCII can introduce variations to the smallest bits, and
      * thus significantly alter the data. This is a known issue, and the fix
      * involves switching RGB data to be stored as a packed integer in
      * future versions of PCL.
      * \ingroup io
      */

inline int 
    savePCDFile (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 
                 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), //点云的原点，默认为0
                 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),//点云的方向
                 const bool binary_mode = false)//是否保存为二进制格式，默认为false
    {
      PCDWriter w;
      return (w.write (file_name, cloud, origin, orientation, binary_mode));
    }


    /** \brief Templated version for saving point cloud data to a PCD file
      * containing a specific given cloud format
      * \param[in] file_name the output file name
      * \param[in] cloud the point cloud data message
      * \param[in] binary_mode true for binary mode, false (default) for ASCII
      *
      * Caution: PointCloud structures containing an RGB field have
      * traditionally used packed float values to store RGB data. Storing a
      * float as ASCII can introduce variations to the smallest bits, and
      * thus significantly alter the data. This is a known issue, and the fix
      * involves switching RGB data to be stored as a packed integer in
      * future versions of PCL.
      * \ingroup io
      */
    template<typename PointT> inline int
    savePCDFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary_mode = false)
    {
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud, binary_mode));
    }


    /** 
      * \brief Templated version for saving point cloud data to a PCD file
      * containing a specific given cloud format.
      *
      *      This version is to retain backwards compatibility.
      * \param[in] file_name the output file name
      * \param[in] cloud the point cloud data message
      *
      * Caution: PointCloud structures containing an RGB field have
      * traditionally used packed float values to store RGB data. Storing a
      * float as ASCII can introduce variations to the smallest bits, and
      * thus significantly alter the data. This is a known issue, and the fix
      * involves switching RGB data to be stored as a packed integer in
      * future versions of PCL.
      * \ingroup io
      */
    template<typename PointT> inline int
    savePCDFileASCII (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
    {
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud, false));
    }


    /** 
      * \brief Templated version for saving point cloud data to a PCD file
      * containing a specific given cloud format.
      *
      *      This version is to retain backwards compatibility.
      * \param[in] file_name the output file name
      * \param[in] cloud the point cloud data message
      * \ingroup io
      */
    template<typename PointT> inline int
    savePCDFileBinary (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
    {
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud, true));
    }


    /** 
      * \brief Templated version for saving point cloud data to a PCD file
      * containing a specific given cloud format
      *
      * \param[in] file_name the output file name
      * \param[in] cloud the point cloud data message
      * \param[in] indices the set of indices to save
      * \param[in] binary_mode true for binary mode, false (default) for ASCII
      *
      * Caution: PointCloud structures containing an RGB field have
      * traditionally used packed float values to store RGB data. Storing a
      * float as ASCII can introduce variations to the smallest bits, and
      * thus significantly alter the data. This is a known issue, and the fix
      * involves switching RGB data to be stored as a packed integer in
      * future versions of PCL.
      * \ingroup io
      */
    template<typename PointT> int
    savePCDFile (const std::string &file_name, 
                 const pcl::PointCloud<PointT> &cloud,
                 const std::vector<int> &indices, 
                 const bool binary_mode = false)
    {
      // Save the data
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud, indices, binary_mode));
    }
  }
}

实例

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

int
main(int argc,char**argv)
{
pcl::PointCloud<pcl::PointXYZ> cloud;
// 创建点云
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);
}