写这个博客作为学习的记录
代码
#include <iostream>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <vector>
using namespace std;
int main()
{
pcl::visualization::CloudViewer viewer("Cloud Viewer");
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
if (pcl::io::loadPCDFile<pcl::PointXYZ> ("rabbit_gra.pcd", *cloud) == -1){
PCL_ERROR("couldn't read file");
return 0;
}
std::cout << "Loaded "
<< cloud->width * cloud->height
<< " data points from test_file.pcd with the following fields: "
<< std::endl;
//for (size_t i = 0; i < cloud->points.size (); ++i) //显示所有的点
for (size_t i = 0; i < 5; ++i) // 为了方便观察,只显示前5个点
std::cout << " " << cloud->points[i].x
<< " " << cloud->points[i].y
<< " " << cloud->points[i].z << std::endl;
viewer.showCloud(cloud);
while(!viewer.wasStopped());
return 0;
}
运行结果:
需要的pcd文件可以在这里下载:https://download.csdn.net/download/tjm059/10786541?utm_source=bbsseo
积分少的朋友可以留言我私发给你
写入文件代码
#include <iostream>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <vector>
using namespace std;
int main()
{
pcl::visualization::CloudViewer viewer("Cloud Viewer");
pcl::PointCloud<pcl::PointXYZ> cloud;
//填充点云数据
cloud.width = 5; //设置点云宽度
cloud.height = 1; //设置点云高度
cloud.is_dense = false; //非密集型
cloud.points.resize (cloud.width * cloud.height); //变形,无序
//设置这些点的坐标
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);
}
//保存到PCD文件
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud); //将点云保存到PCD文件中
std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;
//显示点云数据
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;
}