pcl 读txt对每个坐标+0.001 并且保存格式为txt

可以使用以下代码来实现：

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <iostream>
#include <fstream>
#include <iomanip>
#include <string>

void readPointCloud(std::string inputFile, std::string outputFile)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    if (pcl::io::loadPCDFile<pcl::PointXYZ>(inputFile, *cloud) == -1)
    {
        throw std::runtime_error("Couldn't read input file");
    }

    std::ofstream outFile(outputFile, std::ios::out | std::ios::trunc);

    if (!outFile.is_open())
    {
        throw std::runtime_error("Couldn't open output file");
    }

    for (auto& point : *cloud)
    {
        point.x *= 0.001;
        point.y *= 0.001;
        point.z *= 0.001;

        outFile << std::fixed << std::setprecision(6) << point.x << " "
                << std::fixed << std::setprecision(6) << point.y << " "
                << std::fixed << std::set