PCL:从PCD中读取点云

从PCD中读取点云数据

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

int main(int argc, char **argv) {
    pcl::PointCloud<pcl::PointXYZ>::Ptr  cloud (new pcl::PointCloud<pcl::PointXYZ>);
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("../bun03.pcd", *cloud) == -1)
    {
      PCL_ERROR ("can't read file bun03.pcd \n");
      return (-1);
    }

    std::cout << "loaded " << cloud->width * cloud->height << "data points from the pcd file: " << std::endl;

    for(size_t i = 0; i < cloud->points.size(); ++i)
    {
      std::cout << " " << cloud->points[i].x
              << " " << cloud->points[i].y
              << " " << cloud->points[i].z << std::endl;
    }
    return 0;
}

如上图所示，如果读取不成功，ERROR显示出红色的报错。如果读取成功，显示如上所示。

显示如上所示。