【PCL学习三】如何写一个pcd文件

环境：Ubuntu16.04

一、文件夹内创建pcd_write.cpp 和 CMakeLists.txt 文件

pcd_write.cpp

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

int
  main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 1;
  cloud.is_dense = false;
  cloud.points.resize (cloud.width * cloud.height);

  for (auto& point: cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
  std::cerr << "Saved " << cloud.size () << " data points to test_pcd.pcd." << std::endl;

  for (const auto& point: cloud)
    std::cerr << "    " << point.x << " " << point.y << " " << point.z << std::endl;

  return (0);
}

CMakeLists.txt

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})

二、编译

创建build文件夹

mkdir build
cd build
cmake ..
make

编译后生成 pcd_write可执行程序

运行pcd_write程序

./pcd_write

生成  test_pcd.pcd。

cat查看pcd文件内容

cat test_pcd.pcd

如果想要看一下这个pcd的点云，使用pcl_viewer

pcl_viewer test_pcd.pcd

可以看到5个点

测试完成