【SLAM】PCL:将点云写入PCD文件中

#include iostream #include pcl/io/pcd_io.h #include pcl/point_types.h int main(int argc, char **argv) { pcl::PointCloudpcl::PointXYZ::Ptr cloud (new pcl::PointCloudpcl::PointXYZ); cloud-width 100; cloud-height 1; 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::savePCDFilepcl::PointXYZ(../write.pcd, *cloud); return 0; }这个还是挺简单的可以在终端中用cat命令输出文件内容可以看到具体的格式如下图所示包括版本号区域尺寸具体就不一一解释啦