PCL中把txt文件转换成.pcd文件（很简单）

直接上源代码吧～

#include
#include
#include 
#include 
#include 
#include 

using namespace std;


int main()
{
    fstream modelRead;
    pcl::PointCloud cloud;
    pcl::PCDWriter writer;

    modelRead.open("/home/oliver/dianyun.txt",std::ios_base::in);
    pcl::PointXYZ pclPnt;
    while(!modelRead.eof())
    {
        modelRead>>pclPnt.x>>pclPnt.y>>pclPnt.z;
        cloud.push_back(pclPnt);
    }
    modelRead.close();
    writer.write("/home/oliver/dianyun.pcd",cloud);
    return 0;
}

注意：txt文件没有题目（header)，存储的全是xyz数据。