PCL读取PCD文件

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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main(int argc, char ** argv)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    if (pcl::io::loadPCDFile<pcl::PointXYZ>("E:/vsprojects/PCL-learn/io/read_pcd/src/test_pcd.pcd", *cloud) == -1)
    {
        PCL_ERROR("Could not read the file\n ");
        return -1;
    }

    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);
}