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;
// 创建点云
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);
}
pcl::io::savePCDFileASCII("test_pcd.pcd",cloud);
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);
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(pcd_write)
find_package(PCL 1.9 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})
