pcl_tutorials: pcd_write.cpp Source File

00001 /*
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00034  * $Id: pcd_write.cpp 34542 2010-12-06 10:40:29Z bsteder $
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00036  */
00037 
00046 #include "pcl/io/pcd_io.h"
00047 #include "pcl/point_types.h"
00048 
00049 /* ---[ */
00050 int
00051   main (int argc, char** argv)
00052 {
00053   pcl::PointCloud<pcl::PointXYZ> cloud;
00054 
00055   // Fill in the cloud data
00056   cloud.width    = 5;
00057   cloud.height   = 1;
00058   cloud.is_dense = false;
00059   cloud.points.resize (cloud.width * cloud.height);
00060 
00061   for (size_t i = 0; i < cloud.points.size (); ++i)
00062   {
00063     cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0);
00064     cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0);
00065     cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0);
00066   }
00067 
00068   pcl::io::savePCDFile ("test_pcd.pcd", cloud, false);
00069   ROS_INFO ("Saved %d data points to test_pcd.pcd.", (int)cloud.points.size ());
00070 
00071   for (size_t i = 0; i < cloud.points.size (); ++i)
00072     std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
00073 
00074   return (0);
00075 }
00076 /* ]--- */