PCL_将点云数据写入PCD格式文件

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#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int  main(int argc, char** argv){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//设置这些点的坐标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);}//保存到PCD文件pcl::io::savePCDFileASCII("test_pcd.pcd", 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);}

原文：http://blog.csdn.net/xuezhisdc/article/details/51012300#t0

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