pcd_read.cpp
#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)
{
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);
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(pcd_read)
find_package(PCL 1.9 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcd_read pcd_read.cpp)
target_link_libraries(pcd_read ${PCL_LIBRARIES})
