本文主要是从零开始记录,pcl库的学习过程。
智能指针Ptr无需手动释放内存,代码会自动释放内存。
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
using namespace std;
int main() {
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);//读取类型可以自定义
if(pcl::io::loadPCDFile<pcl::PointXYZI>("../data/cloud.pcd",*cloud)== -1)
{
PCL_ERROR("can't read this pcd file!");
return -1;
}
cout <<"the size of pointcloud:"<<cloud->points.size() << endl;
pcl::io::savePCDFileASCII("../data/saved_cloud.pcd",*cloud);
for(size_t i = 0;i<cloud->points.size();i++)
{
cout<<"x:"<<cloud->points[i].x<<",y:"<<cloud->points[i].y<<",z:"<<cloud->points[i].z<<endl;
}
return 0;
}