点云处理（1）：PCD文件的读取与简单可视化

写一个C++文件，编译并运行。

#include <iostream>
#include <string>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;

int main(int argc, char** argv) {
	typedef pcl::PointXYZRGBA PointT;
	pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);

	std::string dir = "D:\\PointCloudProcessing\\data\\pcdata\\";
	std::string filename = "pig.pcd";

	if (pcl::io::loadPCDFile<PointT>((dir + filename), *cloud) == -1) {
		//* load the file
		PCL_ERROR("Couldn't read PCD file \n");
		return (-1);
	}
	printf("Loaded %d data points from PCD\n",
		cloud->width * cloud->height);

	for (size_t i = 0; i < cloud->points.size(); i += 10000)
		printf("%8.3f %8.3f %8.3f %5d %5d %5d %5d\n",
		cloud->points[i].x,
		cloud->points[i].y,
		cloud->points[i].z,
		cloud->points[i].r,
		cloud->points[i].g,
		cloud->points[i].b,
		cloud->points[i].a
		);

	pcl::visualization::PCLVisualizer viewer("Cloud viewer");
	viewer.setCameraPosition(0, 0, -3.0, 0, -1, 0);
	viewer.addCoordinateSystem(0.3);

	viewer.addPointCloud(cloud);
	while (!viewer.wasStopped())
		viewer.spinOnce(100);
	return (0);
}

显示结果如下：

注意：要根据点云类型修改PointT的类型，如本文中点云类型为PointXYZRGBA，且printf出了点的7个值。