PCL pcd_read读取点云&&pcd_write保存点云

Almost点云

已于 2022-09-08 07:14:15 修改

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分类专栏：点云学习文章标签： c++ 算法开发语言计算机视觉 3d

于 2022-09-08 07:13:56 首次发布

本文链接：https://blog.csdn.net/m0_51204289/article/details/126757090

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一、概述

点云读取与保存操作。

二、代码

pcd_read.cpp

1、读取点云

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

int
main ()
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  //* load the file
  if (pcl::io::loadPCDFile<pcl::PointXYZ> ("CSite1_orig-utm.pcd", *cloud) == -1) 
  {
    PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
    return (-1);
  }
  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);
}

pcd_write.cpp

2、保存点云

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

int
  main ()
{
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 1;
  cloud.is_dense = false;
  cloud.resize (cloud.width * cloud.height);

  for (auto& point: cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
  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);
}