程序:

// 向PCD文件中写入点云数据
#if 1
#include <iostream>              
#include <pcl/io/pcd_io.h>           
#include <pcl/point_types.h> 

int main()
{
    //实例化的模板类PointCloud  每一个点的类型都设置为pcl::PointXYZ
    /*************************************************
    点PointXYZ类型对应的数据结构
    Structure PointXYZ{
    float x;
    float y;
    float z;
    };
    **************************************************/
    pcl::PointCloud<pcl::PointXYZ> cloud;

    // 创建点云  并设置适当的参数（width height is_dense）
    cloud.width = 5;
    cloud.height = 1;
    cloud.is_dense = false;  //不是稠密型的
    cloud.points.resize(cloud.width * cloud.height);  //点云总数大小
    //用随机数的值填充PointCloud点云对象 
    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);
    }
    //把PointCloud对象数据存储在 test_pcd.pcd文件中
    pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);

    //打印输出存储的点云数据
    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);
}


#endif

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