读取pcd格式的点云数据:
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int main(int argc, char** argv)
{
//创建一个 PointCloud<PointXYZ> boost 共享指针并初始化它。
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
//从磁盘加载 PointCloud 数据,并且判断是否
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);
}
//以上代码已经读取到了点云数据,可以通过指针名字cloud访问该数据。
//遍历输出点云数据的坐标
std::cout << "Loaded "
<< cloud->width*cloud->height
<< " data points from test_pcd.pcd with the following fields: "
<< std::endl;
for (size_t i = 0; i < cloud->points.size(); ++i)
std::cout << " " << cloud->points[i].x
<< " " << cloud->points[i].y
<< " " << cloud->points[i].z << std::endl;
system("pause");
return(0);
}
如果需要可视化显示点云,需要用pcl::visualization::CloudViewer viewer(“Cloud Viewer”);