PCL读写pcd文件并显示点云

╰+攻爆jí腚メ 2023-07-07 11:19 3阅读 0赞

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：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1][]

需要的pcd文件可以在这里下载：[https://download.csdn.net/download/tjm059/10786541?utm\_source=bbsseo][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;
    }

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20200222225528151.jpg?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20200222225544348.jpg?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1,size_16,color_FFFFFF,t_70
[https_download.csdn.net_download_tjm059_10786541_utm_source_bbsseo]: https://download.csdn.net/download/tjm059/10786541?utm_source=bbsseo