PCL read data PCD file

1.pcd file --rabbit.pcd

Links: https://pan.baidu.com/s/1v6mjPjwd7fIqUSjlIGTIGQ
extraction code: zspx

New Project pcl

rabbit.pcd and pcl.cpp in the same directory

 

2. Read the file

(1) Display Data

#include <the iostream> 
#include <PCL / IO / pcd_io.h> 
#include <PCL / point_types.h> int main ( int argc, char ** the argv) { 　　// create a pointer called cloud storage XYZ type of point cloud data 
    PCL PointCloud :: <PCL PointXYZ ::> :: the Ptr cloud ( new new PCL PointCloud :: <PCL :: PointXYZ> ); // // * open file cloud point IF (PCL :: IO :: loadPCDFile <PCL :: PointXYZ> ( " rabbit.pcd " , * Cloud) == - . 1 ) { 
        PCL_ERROR ( " Could Not Read File rabbit.pcd \ 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;
    }
    system("pause");
    return 0;
}

File data on a show out

Description:

　　PointCloud is a base class in PCL, pcl :: PointCloud <pcl :: PointXYZ> :: Ptr is a shared pointer Boost

　　The data field PointCloud　　

　　　　width (int), if disorganized, unstructured point cloud data indicates the number of point cloud; if there is a point cloud data structure, sets line represents the point cloud data points.

　　　　height (int), if unstructured point cloud data, height = 1; if there is a point cloud data structure, height point cloud represents the total number of lines.

　　　　points (std :: vector) is stored as a dynamic array PointT type of data.

　　PointXYZ point is the most common data type, it contains only three-dimensional X, Y, Z coordinate information

　　　　X：points[i].x

　　size_t integer, an integer stored, a record size (size)

　　points.size () represents the point cloud data size

 (2) Data Visualization

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

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

    //
    //*打开点云文件
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud) == -1) {
        PCL_ERROR("Couldn't read file rabbit.pcd\n");
        return(-1);
    }
    std::cout << cloud->points.size() << std::endl;
    pcl::visualization::CloudViewer viewer("cloud viewer");
    viewer.showCloud(cloud);
    while (!viewer.wasStopped()) {

    }
    system("pause");
    return 0;
}

operation result

 Turn at the wheel

 Modify the background color

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
    viewer.setBackgroundColor(1.0f, 0.5f, 1.0f);
}

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

    //*打开点云文件
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud) == -1) {
        PCL_ERROR("Couldn't read file rabbit.pcd\n");
        return(-1);
    }
    std::cout << cloud->points.size() << std::endl;
    pcl::visualization::CloudViewer viewer("cloud viewer");
    viewer.showCloud(cloud);
    viewer.runOnVisualizationThreadOnce(viewerOneOff);
    
    system("pause");
    return 0;
}

 输出文字

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

int user_data;
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
    viewer.setBackgroundColor(1.0f, 0.5f, 1.0f);
}
void
viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
    ss << "Once per viewer loop: " << count++;
    viewer.removeShape("text", 0);
    viewer.addText(ss.str(), 20, 100, "text", 0);//this is to set the coordination of text "Once per viewer loop:"
    user_data++;
}
int main(int argc, char** argv) {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    //*打开点云文件
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud) == -1) {
        PCL_ERROR("Couldn't read file rabbit.pcd\n");
        return(-1);
    }
    std::cout << cloud->points.size() << std::endl;
    pcl::visualization::CloudViewer viewer("cloud viewer");
    viewer.showCloud(cloud);
    viewer.runOnVisualizationThreadOnce(viewerOneOff);
    viewer.runOnVisualizationThread(viewerPsycho);
    system("pause");
    return 0;
}