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.. _writing_pcd:
Writing Point Cloud data to PCD files
-------------------------------------
In this tutorial we will learn how to write point cloud data to a PCD file.
The code
--------
First, create a file called, let's say, ``pcd_write.cpp`` in your favorite
editor, and place the following code inside it:
.. literalinclude:: sources/pcd_write/pcd_write.cpp
:language: cpp
:linenos:
The explanation
---------------
Now, let's break down the code piece by piece.
.. literalinclude:: sources/pcd_write/pcd_write.cpp
:language: cpp
:lines: 2-3
pcl/io/pcd_io.h is the header that contains the definitions for PCD I/O
operations, and pcl/point_types.h contains definitions for several PointT type
structures (pcl::PointXYZ in our case).
.. literalinclude:: sources/pcd_write/pcd_write.cpp
:language: cpp
:lines: 8
describes the templated PointCloud structure that we will create. The type of
each point is set to pcl::PointXYZ, which is:
.. code-block:: cpp
// \brief A point structure representing Euclidean xyz coordinates.
struct PointXYZ
{
float x;
float y;
float z;
};
The lines:
.. literalinclude:: sources/pcd_write/pcd_write.cpp
:language: cpp
:lines: 10-21
fill in the PointCloud structure with random point values, and set the
appropriate parameters (width, height, is_dense).
Then:
.. literalinclude:: sources/pcd_write/pcd_write.cpp
:language: cpp
:lines: 23
saves the PointCloud data to disk into a file called test_pcd.pcd
Finally:
.. literalinclude:: sources/pcd_write/pcd_write.cpp
:language: cpp
:lines: 24-27
is used to show the data that was generated.
Compiling and running the program
---------------------------------
Add the following lines to your CMakeLists.txt file:
.. literalinclude:: sources/pcd_write/CMakeLists.txt
:language: cmake
:linenos:
After you have made the executable, you can run it. Simply do::
$ ./pcd_write
You will see something similar to::
Saved 5 data points to test_pcd.pcd.
0.352222 -0.151883 -0.106395
-0.397406 -0.473106 0.292602
-0.731898 0.667105 0.441304
-0.734766 0.854581 -0.0361733
-0.4607 -0.277468 -0.916762
You can check the content of the file test_pcd.pcd, using::
$ cat test_pcd.pcd
# .PCD v.5 - Point Cloud Data file format
FIELDS x y z
SIZE 4 4 4
TYPE F F F
WIDTH 5
HEIGHT 1
POINTS 5
DATA ascii
0.35222 -0.15188 -0.1064
-0.39741 -0.47311 0.2926
-0.7319 0.6671 0.4413
-0.73477 0.85458 -0.036173
-0.4607 -0.27747 -0.91676
|
