[Point Cloud Library] 点云数据写入PCD文件

转自：http://blog.csdn.net/leowangzi/article/details/7838138

 #include
 #include
 #include

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

   // Fill in the cloud data
   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);
 }

我们一步一步来分析上面的代码。

 #include
 #include

pcl/io/pcd_io.h 是包含了PCD文件IO操作定义的头文件，pcl/point_types.h 是包含了若干PointT数据结构定义的头文件。

 pcl::PointCloud cloud;

描述我们创建的点云模板类，模板的类型为 PointXYZ。

 // Fill in the cloud data
   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);
   }

用随机数填充点云数据结构，并设置参数width,height,is_dense。

 pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);

保存点云数据到test_pcd.pcd文件中。

 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;

运行上面的程序，你可能会看到这样的结果：

 Saved 5 data points to test_pcd.pcd.
   0.352222 -0.151883 -0.106395
   -0.397406 -0.473106 0.292602
   -0.731898 0.667105 0.441304
   -0.734766 0.854581 -0.0361733
   -0.4607 -0.277468 -0.916762

打开生成的pcd文件，你会看到如下样式的东西：

 $ cat test_pcd.pcd
 # .PCD v.5 - Point Cloud Data file format
 FIELDS x y z
 SIZE 4 4 4
 TYPE F F F
 WIDTH 5
 HEIGHT 1
 POINTS 5
 DATA ascii
 0.35222 -0.15188 -0.1064
 -0.39741 -0.47311 0.2926
 -0.7319 0.6671 0.4413
 -0.73477 0.85458 -0.036173
 -0.4607 -0.27747 -0.91676