从PCD文件中读取点云数据

template<typename PointT> inline int
    loadPCDFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
    {
      pcl::PCDReader p;
      return (p.read (file_name, cloud));
    }//可以用来打开任何类型的pcd点云文件。

实例如下

#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>("test_pcd.pcd",*cloud)==-1)//*打开点云文件，PointXYZ
{
PCL_ERROR("Couldn't read file test_pcd.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;

return(0);
}