asc点云文件如何转换pcd

跪求各位大神，有没有VS直接转换点云文件为pcd格式的程序！十分感谢！

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

#include <pcl/visualization/pcl_visualizer.h> 

using namespace std;


typedef struct tagPOINT_3D
{
    double x; 
    double y; 
    double z; 
    double r;
}POINT_WORLD;

int main()
{
    //加载txt数据  
    FILE *fp_txt;
    tagPOINT_3D TxtPoint;
    vector<tagPOINT_3D> m_vTxtPoints;
    fp_txt = fopen("D:\\data.asc", "r");
    if (fp_txt)
    {
        while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF)
        {
            m_vTxtPoints.push_back(TxtPoint);
        }
    }
    else
        cout << "txt数据加载失败！" << endl;
    int number_Txt = m_vTxtPoints.size();

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    // Fill in the cloud data  
    cloud->width = number_Txt;
    cloud->height = 1;
    cloud->is_dense = false;
    cloud->points.resize(cloud->width * cloud->height);
    for (size_t i = 0; i < cloud->points.size(); ++i)
    {
        cloud->points[i].x = m_vTxtPoints[i].x;
        cloud->points[i].y = m_vTxtPoints[i].y;
        cloud->points[i].z = m_vTxtPoints[i].z;
    }
    pcl::io::savePCDFileASCII("output.pcd", *cloud);
    std::cerr << "Saved " << cloud->points.size() << " data points to txt2pcd.pcd." << std::endl;

    system("pause");
    return 0;
}