将点云文件转成txt文件

fid = fopen(sprintf('/home/wlf/000000.bin'),'rb');
velo=fread(fid,[4 inf],'single');
velo=velo';
a=velo(:,1:3);
b = a(all(~isnan(a),2),:);
save /home/wlf/000000.txt -ascii b