点云数据写入PCD文件

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本次是将数据写入pcd文件的小小总结，操作步骤和读点云数据类似，
1.pcb_write.cpp文件
// pcd_write.cpp : 定义控制台应用程序的入口点。
//

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

int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ> cloud;//定义x，y，z坐标

// Fill in the cloud data
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);
}
//用随机点值填写PointCloud结构,并设置适当的参数（w、h,is_dense)。
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud); //保存
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);
}
2.CmakeLists.txt文件
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})

3.结果：

4.生成的pcd文件内容如下：
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH 5
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 5
DATA ascii
1.28125 577.09375 197.9375
828.125 599.03125 491.375
358.6875 917.4375 842.5625
764.5 178.28125 879.53125
727.53125 525.84375 311.28125
5.总结
经过两次的实验，发现，pcd文件的开始部分非常相似，形如下
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH cloud.width
HEIGHT cloud.height
VIEWPOINT 0 0 0 1 0 0 0
POINTS cloud.width
DATA ascii

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