实时将点云保存至pcd

---

一、cpp

#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
#include <string>

int  main (int argc, char** argv)
{
 

  
	//设置这些点的坐标
  for(int j = 1; j < 5; j++)
  {
    pcl::PointCloud<pcl::PointXYZ> cloud; // 创建点云（不是指针） 
     //填充点云数据
      cloud.width = 5;                                 //设置点云宽度
      cloud.height = 1;                                //设置点云高度
      cloud.is_dense = false;                          //非密集型
      cloud.points.resize(cloud.width * cloud.height); //变形，无序
      
    for (size_t i = 0; i < cloud.points.size(); ++i)
    { 
      int m = j * 10;
      cloud.points[i].x = m * rand() / (RAND_MAX + 1.0f);
      cloud.points[i].y = m * rand() / (RAND_MAX + 1.0f);
      cloud.points[i].z = m * rand() / (RAND_MAX + 1.0f);
    }
    //保存到PCD文件
    std::string n = "test_pcd";
    char r = char(j);
    n.insert(n.length() - 1, 1, r);
    n += ".pcd";
    pcl::io::savePCDFileASCII(n, 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;
  }

  return (0);
}

二、CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
project(xyz2pcd)
 
find_package(PCL  REQUIRED)
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable (xyz2pcd pcdwrite.cpp)
target_link_libraries (xyz2pcd ${PCL_LIBRARIES})