【SLAM】PCL:从PCD中读取点云

从PCD中读取点云数据#include iostream #include pcl/io/pcd_io.h #include pcl/point_types.h int main(int argc, char **argv) { pcl::PointCloudpcl::PointXYZ::Ptr cloud (new pcl::PointCloudpcl::PointXYZ); if (pcl::io::loadPCDFilepcl::PointXYZ(../bun03.pcd, *cloud) -1) { PCL_ERROR (cant read file bun03.pcd \n); return (-1); } std::cout loaded cloud-width * cloud-height data points from the pcd file: 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; }如上图所示如果读取不成功ERROR显示出红色的报错。如果读取成功显示如上所示。显示如上所示。