pcl学习笔记--读pcd文件

load_pcd.cpp

#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include<iostream>
int main()
{
//定义一个点云的变量
pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZ>());
//读取pcd文件
pcl::io::loadPCDFile("/data/pcl/day1/build/test_pcd.pcd", *source_cloud);

//读取pcd文件,方法2
pcl::PCDReader reader;
reader.read("/data/1.pcd", *source_cloud);


//std::cout << *source_cloud << std::endl;
//打印点云的数据
for (auto &point : *source_cloud)
    {

        std::cout << point.x <<" " <<point.y << " " << point.z << std::endl;
    }


return 0;

}

CMakeLists.txt

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)

project(pcl-matrix_transform)
set(CMAKE_CXX_FLAGS "-g -Wall -std=c++11")

find_package(PCL 1.3 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (matrix_transform load_pcd.cpp)
target_link_libraries (matrix_transform ${PCL_LIBRARIES})

参考资料

pcl-learning/matrix_transform.cpp at master · HuangCongQing/pcl-learning · GitHub