程序:
// 向PCD文件中写入点云数据
#if 1
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int main()
{
//实例化的模板类PointCloud 每一个点的类型都设置为pcl::PointXYZ
/*************************************************
点PointXYZ类型对应的数据结构
Structure PointXYZ{
float x;
float y;
float z;
};
**************************************************/
pcl::PointCloud<pcl::PointXYZ> cloud;
// 创建点云 并设置适当的参数（width height is_dense）
cloud.width = 5;
cloud.height = 1;
cloud.is_dense = false; //不是稠密型的
cloud.points.resize(cloud.width * cloud.height); //点云总数大小
//用随机数的值填充PointCloud点云对象
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);
}
//把PointCloud对象数据存储在 test_pcd.pcd文件中
pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);
//打印输出存储的点云数据
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);
}
#endif
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