PCL:将点云写入PCD文件中

#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>int main(int argc, char **argv) {    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new  pcl::PointCloud<pcl::PointXYZ>);    cloud->width = 100;    cloud->height = 1;    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::savePCDFile<pcl::PointXYZ>("../write.pcd", *cloud);    return 0;}

这个还是挺简单的，可以在终端中用cat命令输出文件内容，可以看到具体的格式如下图所示，包括版本号，区域，尺寸，具体就不一一解释啦！