PCL

环境配置

"args":[
          "-g",           
          "${workspaceFolder}/${fileBasename}",   // include path指令
          "-I", "/usr/local/include/pcl-1.8",
          "-I", "/usr/include/eigen3",
          "-I", "/usr/include/vtk-5.10",
          "-I", "/usr/include/qhull",
          "-I", "/usr/include/flann",
          "-I", "/usr/include/boost",
          // lib 库文件地址
          "-L", "/usr/local/lib",     
          "-l", "pcl_io",                           
          "-l", "pcl_visualization",
          "-l", "pcl_common",
          "-l", "vtkFiltering",
          "-l", "vtkCommon",
          "-l", "vtkRendering",
          "-l", "vtkGraphics",
          "-L", "/usr/include/x86_64-linux-gnu",  
          "-l", "boost_system",                
          "-o",                                    // 生成指定名称的可执行文件
          "${workspaceFolder}/${fileBasenameNoExtension}.out"  
      ],

PCL读取PCD并显示

#include <iostream>
#include <fstream>
#include <pcl/io/pcd_io.h>  //文件输入输出
#include <pcl/point_types.h>  //点类型相关定义
#include <pcl/visualization/cloud_viewer.h>  //点类型相关定义
using namespace std;
int main()
{
	//1.loadPCDFile读取点云
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("/home/cqy/Documents/ml_lidar/pcd/1619687386.000349.pcd", *cloud1) == -1)
	{
		PCL_ERROR("Cloudn't read file!");
		return -1;
	}
	cout << "1.loadPCDFile方式使用指针读取点个数: " << cloud1->points.size() << endl;
    cout<<cloud1->points[0].x<<endl;

	//6.显示点云
	pcl::visualization::CloudViewer viewer("cloud viewer");
	viewer.showCloud(cloud1);
    while (!viewer.wasStopped())
    {
    }
	system("pause");
	return 0;
}

访问某一点

int x = cloud->points[99].x;
//PointXYZ具体数据结构见《PCL学习笔记1-Point类型》