读取点云文件

string lane_cluster_path="demo.pcd";
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
if(pcl::io::loadPCDFile(lane_cluster_path, *cloud)==-1){
	cout << "load lane_cluster pcd error!" << endl;
	return -1;
}

保存点云文件

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
// XXX
std::string save_path = "demo.pcd";
pcl::io::savePCDFileBinary(save_path, *cloud);