PCL将pcd可视化

最新推荐文章于 2024-06-24 20:13:55 发布

Flying Stone

最新推荐文章于 2024-06-24 20:13:55 发布

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本文链接：https://blog.csdn.net/weixin_42840360/article/details/119581252

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一个简单的pcd文件读取实例

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
 
int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);//创建点云指针
	if(pcl::io::loadPCDFile<pcl::PointXYZ>("/home/stone/Desktop/data/output-lidar/459.234350530.pcd", *cloud )== -1)//读入PCD格式文件，如果文件不存在，返回-1
	{
	PCL_ERROR("Couldn't read file rabbit.pcd\n");
	return -1;
	}
 
	std::cout << "Loaded "
		<< cloud->points.size()
		<< "data points from .pcd with the following fields: "
		<< std::endl;
 
	//for (size_t i = 0; i < cloud->points.size(); i++) 显示所有的点
	//显示前5个点
	for (size_t i = 0; i < 5; i++)
	{
		std::cout << "  " << cloud->points[i].x << "  " << cloud->points[i].y << "  " << cloud->points[i].z << std::endl;
	}
 
	system("pause");
	return 0;
}

%YAML:1.0

K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [424.945173,  0.,   319.44412,
           0.,    425.020648,    183.77008,
           0.,0.,1.]
d: !!opencv-matrix
   rows: 4
   cols: 1
   dt: d
   data: [ -0.029614, -0.096347,
       0.000571, -0.002081]

Camera.width: 640
Camera.height: 360

grid_length: 0.15
corner_in_x: 7
corner_in_y: 5