首先写c++文件
#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> ("table_scene_lms400.pcd", *cloud) == -1) //* 读入PCD格式的文件,如果文件不存在,返回-1
{
PCL_ERROR ("Couldn't read file\n");
return (-1);`在这里插入代码片`
}
std::cout << "Loaded "
<< cloud->width * cloud->height
<< " data points from pcd with the following fields: "
<< std::endl;
//for (size_t i = 0; i < cloud->points.size (); ++i) //显示所有的点
for (size_t i = 0; i < 5; ++i) // 为了方便观察,只显示前5个点
std::cout << " " << cloud->points[i].x
<< " " << cloud->points[i].y
<< " " << cloud->points[i].z << std::endl;
return (0);
}
再写cmakelist文件
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(pcd_read)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (pcd_read pcd_read.cpp)
target_link_libraries (pcd_read ${PCL_LIBRARIES})