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<li><a class="reference internal" href="#">Writing Point Cloud data to PCD files</a></li>
<li><a class="reference internal" href="#the-code">The code</a></li>
<li><a class="reference internal" href="#the-explanation">The explanation</a></li>
<li><a class="reference internal" href="#compiling-and-running-the-program">Compiling and running the program</a></li>
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<div class="section" id="writing-point-cloud-data-to-pcd-files">
<span id="writing-pcd"></span><h1>Writing Point Cloud data to PCD files</h1>
<p>In this tutorial we will learn how to write point cloud data to a PCD file.</p>
</div>
<div class="section" id="the-code">
<h1>The code</h1>
<p>First, create a file called, let’s say, <code class="docutils literal notranslate"><span class="pre">pcd_write.cpp</span></code> in your favorite
editor, and place the following code inside it:</p>
<div class="highlight-cpp notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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30</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf">&lt;iostream&gt;</span><span class="cp"></span>
<span class="cp">#include</span> <span class="cpf">&lt;pcl/io/pcd_io.h&gt;</span><span class="cp"></span>
<span class="cp">#include</span> <span class="cpf">&lt;pcl/point_types.h&gt;</span><span class="cp"></span>
<span class="kt">int</span>
<span class="nf">main</span> <span class="p">()</span>
<span class="p">{</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="n">cloud</span><span class="p">;</span>
<span class="c1">// Fill in the cloud data</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">width</span> <span class="o">=</span> <span class="mi">5</span><span class="p">;</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">is_dense</span> <span class="o">=</span> <span class="nb">false</span><span class="p">;</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="p">.</span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="p">.</span><span class="n">height</span><span class="p">);</span>
<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&amp;</span> <span class="nl">point</span><span class="p">:</span> <span class="n">cloud</span><span class="p">)</span>
<span class="p">{</span>
<span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">}</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">io</span><span class="o">::</span><span class="n">savePCDFileASCII</span> <span class="p">(</span><span class="s">&quot;test_pcd.pcd&quot;</span><span class="p">,</span> <span class="n">cloud</span><span class="p">);</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot;Saved &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">cloud</span><span class="p">.</span><span class="n">size</span> <span class="p">()</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; data points to test_pcd.pcd.&quot;</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&amp;</span> <span class="nl">point</span><span class="p">:</span> <span class="n">cloud</span><span class="p">)</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">return</span> <span class="p">(</span><span class="mi">0</span><span class="p">);</span>
<span class="p">}</span>
</pre></div>
</td></tr></table></div>
</div>
<div class="section" id="the-explanation">
<h1>The explanation</h1>
<p>Now, let’s break down the code piece by piece.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf">&lt;pcl/io/pcd_io.h&gt;</span><span class="cp"></span>
<span class="cp">#include</span> <span class="cpf">&lt;pcl/point_types.h&gt;</span><span class="cp"></span>
</pre></div>
</div>
<p>The first file is the header that contains the definitions for PCD I/O
operations, and second one contains definitions for several point type
structures, including <code class="docutils literal notranslate"><span class="pre">pcl::PointXYZ</span></code> that we will use.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="n">cloud</span><span class="p">;</span>
</pre></div>
</div>
<p>describes the templated PointCloud structure that we will create. The type of
each point is set to <code class="docutils literal notranslate"><span class="pre">pcl::PointXYZ</span></code>, which is a structure that has <code class="docutils literal notranslate"><span class="pre">x</span></code>,
<code class="docutils literal notranslate"><span class="pre">y</span></code>, and <code class="docutils literal notranslate"><span class="pre">z</span></code> fields.</p>
<p>The lines:</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="c1">// Fill in the cloud data</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">width</span> <span class="o">=</span> <span class="mi">5</span><span class="p">;</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">is_dense</span> <span class="o">=</span> <span class="nb">false</span><span class="p">;</span>
<span class="n">cloud</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="p">.</span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="p">.</span><span class="n">height</span><span class="p">);</span>
<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&amp;</span> <span class="nl">point</span><span class="p">:</span> <span class="n">cloud</span><span class="p">)</span>
<span class="p">{</span>
<span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">}</span>
</pre></div>
</div>
<p>fill in the PointCloud structure with random point values, and set the
appropriate parameters (width, height, is_dense).</p>
<p>Then:</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">pcl</span><span class="o">::</span><span class="n">io</span><span class="o">::</span><span class="n">savePCDFileASCII</span> <span class="p">(</span><span class="s">&quot;test_pcd.pcd&quot;</span><span class="p">,</span> <span class="n">cloud</span><span class="p">);</span>
</pre></div>
</div>
<p>saves the PointCloud data to disk into a file called test_pcd.pcd</p>
<p>Finally:</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot;Saved &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">cloud</span><span class="p">.</span><span class="n">size</span> <span class="p">()</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; data points to test_pcd.pcd.&quot;</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&amp;</span> <span class="nl">point</span><span class="p">:</span> <span class="n">cloud</span><span class="p">)</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
</pre></div>
</div>
<p>is used to show the data that was generated.</p>
</div>
<div class="section" id="compiling-and-running-the-program">
<h1>Compiling and running the program</h1>
<p>Add the following lines to your CMakeLists.txt file:</p>
<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
2
3
4
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6
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12</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
<span class="nb">project</span><span class="p">(</span><span class="s">pcd_write</span><span class="p">)</span>
<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.2</span> <span class="s">REQUIRED</span><span class="p">)</span>
<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">add_executable</span> <span class="p">(</span><span class="s">pcd_write</span> <span class="s">pcd_write.cpp</span><span class="p">)</span>
<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">pcd_write</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
</pre></div>
</td></tr></table></div>
<p>After you have made the executable, you can run it. Simply do:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./pcd_write
</pre></div>
</div>
<p>You will see something similar to:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Saved</span> <span class="mi">5</span> <span class="n">data</span> <span class="n">points</span> <span class="n">to</span> <span class="n">test_pcd</span><span class="o">.</span><span class="n">pcd</span><span class="o">.</span>
<span class="mf">0.352222</span> <span class="o">-</span><span class="mf">0.151883</span> <span class="o">-</span><span class="mf">0.106395</span>
<span class="o">-</span><span class="mf">0.397406</span> <span class="o">-</span><span class="mf">0.473106</span> <span class="mf">0.292602</span>
<span class="o">-</span><span class="mf">0.731898</span> <span class="mf">0.667105</span> <span class="mf">0.441304</span>
<span class="o">-</span><span class="mf">0.734766</span> <span class="mf">0.854581</span> <span class="o">-</span><span class="mf">0.0361733</span>
<span class="o">-</span><span class="mf">0.4607</span> <span class="o">-</span><span class="mf">0.277468</span> <span class="o">-</span><span class="mf">0.916762</span>
</pre></div>
</div>
<p>You can check the content of the file test_pcd.pcd, using:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ 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
</pre></div>
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