写入PCD文件

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

int main(int argc.char** argv){
    //创建一个点云对象
    pcl::PointCloud<pcl::PointXYZ> cloud;
    //设置其参数
    cloud.width=5;//宽度
    cloud.height=1;//高度
    cloud.is_dense=false;//是否是密集型
    cloud.points.resize(cloud.width*cloud.height);//重新计算cloud大小
    //随机赋值cloud内的点，
    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);
    }
    //将cloud存入到test_pcd.pcd中
    pcd::io::savePCDFileASCII("test_pcd.pcd",cloud);
    //将cloud的信息打印出来
    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);
}