1、读取PCD文件
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
// 定义一个 pcl::PointXYZ 类型的点云共享指针,并初始化
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
// 从磁盘加载点云数据
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);
}
// 输出点云数据到屏幕
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;
return (0);
}
2、写入PCD文件
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
// 创建一个点云
pcl::PointCloud<pcl::PointXYZ> cloud;
// 填充点云数据
cloud.width = 5;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize (cloud.width * cloud.height);
for (size_t i = 0; i < cloud.points.size (); ++i)
{
cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
// 写入点云数据到 PCD 文件
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;
// 显示生成的点云
for (size_t i = 0; i < cloud.points.size (); ++i)
std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
return (0);
}
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