PCL学习记录---pcd_read

读取PCD文件

可以使用pcd_write中生成的test_pcd.pcd

代码

1、pcd_read.cpp

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

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

  if (pcl::io::loadPCDFile<pcl::PointXYZ> ("test_pcd.pcd", *cloud) == -1) //* load the file
  {
    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 (std::size_t i = 0; i < cloud->points.size (); ++i)
    std::cout << "    " << (*cloud)[i].x
              << " "    << (*cloud)[i].y
              << " "    << (*cloud)[i].z << std::endl;

  return (0);
}

2、CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(pcd_read)

find_package(PCL 1.2 REQUIRED)

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

add_executable (pcd_read pcd_read.cpp)
target_link_libraries (pcd_read ${PCL_LIBRARIES})

编译运行

mkdir build
cd build/
cmake …
make
./pcd_read

编译报错

1、运行报错

[pcl::PCDReader::readHeader] Could not find file 'test_pcd.pcd'.
Couldn't read file test_pcd.pcd 

解决方法

将test_pcd.pcd放入build文件夹或者完善pcd_read中的文件读取路径