点云学习2：写入PCD文件

#include<iostream>#include<pcl/io/pcd_io.h>#include<pcl/point_types.h>int main(){pcl::PointCloud<pcl::PointXYZ> cloud;cloud.width = 5;cloud.height = 1;cloud.is_dense = false;cl

DF.W

167人浏览 · 2020-09-13 11:34:57

DF.W · 2020-09-13 11:34:57 发布

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
int main()
{
 pcl::PointCloud<pcl::PointXYZ> cloud;
 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 = 1000 * rand() / (RAND_MAX + 1.0);
  cloud.points[i].y = 1000 * rand() / (RAND_MAX + 1.0);
  cloud.points[i].z = 1000 * rand() / (RAND_MAX + 1.0);
 }
 pcl::io::savePCDFileASCII("my_test_pcd_input", cloud);
 std::cerr << "Saved " << cloud.points.size() << std::endl;
 for (size_t i = 0; i < cloud.points.size(); ++i)
 {
  std::cout << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
 }
 system("pause");
 return 0;
}

这里值得一说的就是这个随机生成数据的地方

  cloud.points[i].x = 1000 * rand() / (RAND_MAX + 1.0);
  cloud.points[i].y = 1000 * rand() / (RAND_MAX + 1.0);
  cloud.points[i].z = 1000 * rand() / (RAND_MAX + 1.0);