#include //标准C++库中的输入输出的头文件
#include //PCD读写类相关的头文件
#include //PCL中支持的点类型的头文件intmain (int argc, char** argv)
{//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 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);
}