00001 #include <iostream> 00002 #include <pcl/io/pcd_io.h> 00003 #include <pcl/point_types.h> 00004 00005 int 00006 main (int argc, char** argv) 00007 { 00008 pcl::PointCloud<pcl::PointXYZ> cloud; 00009 00010 // Fill in the cloud data 00011 cloud.width = 5; 00012 cloud.height = 1; 00013 cloud.is_dense = false; 00014 cloud.points.resize (cloud.width * cloud.height); 00015 00016 for (size_t i = 0; i < cloud.points.size (); ++i) 00017 { 00018 cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f); 00019 cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f); 00020 cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f); 00021 } 00022 00023 pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud); 00024 std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl; 00025 00026 for (size_t i = 0; i < cloud.points.size (); ++i) 00027 std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl; 00028 00029 return (0); 00030 }