pcd_read.cpp文件
#include <iostream> //标准输入输出流
#include <pcl/io/pcd_io.h> //PCL的PCD格式文件的输入输出头文件
#include <pcl/point_types.h> //PCL对各种格式的点的支持头文件
#include <pcl/visualization/cloud_viewer.h>//点云查看窗口头文件
int main(int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // 创建点云(指针)
if (pcl::io::loadPCDFile<pcl::PointXYZ>("bun0.pcd", *cloud) == -1) //* 读入PCD格式的文件,如果文件不存在,返回-1
{
PCL_ERROR("Couldn't read file test_pcd.pcd \n"); //文件不存在时,返回错误,终止程序。
return (-1);
}
//打印点云数据
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");
pcl::visualization::CloudViewer viewer("Simple Cloud Viewer");//直接创造一个显示窗口
viewer.showCloud(cloud);//再这个窗口显示点云
while (!viewer.wasStopped())
{
}
return (0);
}
CMakeLists.txt文件
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})