从PCD文件中读取点云数据及其代码解释
#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>);//创建POintCloud<PointXYZ>boost共享指针并进行实例化
if (pcl::io::loadPCDFile<pcl::PointXYZ> ("test_pcd.pcd", *cloud) == -1) //* 打开点云文件
{
PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
return (-1);//当文件打不开时执行的语句
}
std::cout << "Loaded "
<< cloud->width * cloud->height
<< " data points from test_pcd.pcd with the following fields: "
<< std::endl;
for (const auto& point: *cloud)
std::cout << " " << point.x
<< " " << point.y
<< " " << point.z << std::endl;
return (0);
}
向PCD文件写入点云数据
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ> cloud;
// 创建点云
cloud.width = 5;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize (cloud.width * cloud.height);
for (size_t=0;i<cloud.points.size();++i)
{
cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);//将点云数据存储在文件中
std::cerr << "Saved " << cloud.size () << " data points to test_pcd.pcd." << std::endl;
for (const auto& point: cloud)
std::cerr << " " << point.x << " " << point.y << " " << point.z << std::endl;
return (0);
}