PCL生成.PCD文件

2019-11-08 20:05:25

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#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <opencv2/core/core.hpp>#include <string>using namespace std;int main( ){ string setting_file("setting.yaml"); // The only lateral cv::FileStorage fs; fs.open( setting_file.c_str( ), cv::FileStorage::READ ); pcl::PointCloud< pcl::PointXYZ > cloud; // Fill in the cloud data cloud.width = 50; 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 ); } string PCDPath = fs["PCDPath"]; pcl::io::savePCDFileASCII( PCDPath, cloud ); return 0;}

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