点云处理之：显示pcd格式点云数据

applededipan

已于 2022-02-24 23:04:19 修改

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分类专栏：点云处理文章标签： c++ 算法

于 2022-02-24 22:43:37 首次发布

本文链接：https://blog.youkuaiyun.com/qq_32320925/article/details/123122803

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main.cc

#include <iostream>
#include <vector>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <boost/thread/thread.hpp>


int main(int argc, char** argv)
{
    if (argc <= 1) {
        std::cout << "please input pcd file path, for example, run ./pcl_read_pcd_by_reader /home/test.pcd" << std::endl;
        return 0;
    }

    std::string pcd_path = argv[1];

	pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);	// Generate pointcloud data，新建指针cloud存放点云
	pcl::PCDReader reader;
	reader.read<pcl::PointXYZI>(pcd_path, *cloud);//读取pcd文件，用指针传递给cloud。     

    //可视化 方法一
    pcl::visualization::CloudViewer viewer1("Cloud Viewer");
    viewer1.showCloud(cloud);
    while(!viewer1.wasStopped());

    return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(pcl_read_pcd_by_reader)
 
find_package(PCL 1.2 REQUIRED)
 
# 加入Boost setting
find_package(Boost COMPONENTS program_options REQUIRED )
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(${PROJECT_NAME} main.cc)
 
target_link_libraries (${PROJECT_NAME} ${PCL_LIBRARIES} ${Boost_LIBRARIES})