1.pcd文件——rabbit.pcd
链接:https://pan.baidu.com/s/1v6mjPjwd7fIqUSjlIGTIGQ
提取码:zspx
新建项目pcl
rabbit.pcd 和pcl.cpp在同一目录下
2.读取文件
(1)显示数据
#include<iostream> #include<pcl/io/pcd_io.h> #include<pcl/point_types.h> int main(int argc, char** argv) {
//创建了一个名为cloud的指针,储存XYZ类型的点云数据 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // //*打开点云文件 if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud) == -1) { PCL_ERROR("Couldn't read file rabbit.pcd\n"); return(-1); } std::cout << "Loaded:" << cloud->width*cloud->height<<"data points from test_pcd.pcd with the following fields:"<< std::endl; for (size_t i = 0; i < cloud->points.size(); ++i) { std::cout << " " << cloud->points[i].x <<