写一段pcd转txt的代码

以下是将 PCD 文件转换为 TXT 文件的示例代码：

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

int main(int argc, char** argv)
{
if (argc != 3)
{
std::cerr << "Usage: " << argv[0] << " input.pcd output.txt" << std::endl;
return -1;
}

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if (pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud) == -1)
{
std::cerr << "Failed to read PCD file: " << argv[1] << std::endl;
return -1;
}

std::ofstream outfile(argv[2]);
if (!outfile.is_open())
{
std::cerr << "Failed to open output file: " << argv[2] << std::endl;
return -1;
}

for (const auto& point : *cloud)
{
outfile << point.x << " " << point.y << " " << point.z << std::endl;
}

std::cout << "Successfully converted PCD file to TXT file." << std::endl;

return 0;
}