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  • 06点云的读取与显示

    点云数据的读取与显示:

      desk.pcd 数据百度链接:

      链接:https://pan.baidu.com/s/1mYleYemNmizXZGLQbUC59A
      提取码:atma

    #include <iostream>
    #include <pcl\io\pcd_io.h>
    #include <pcl\point_types.h>
    #include <pcl\visualization\cloud_viewer.h>
    
    int main() 
    {
        
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    
    
        if (pcl::io::loadPCDFile<pcl::PointXYZ>("F:\\BaiduNetdiskDownload\\pcl\\desk.pcd", *cloud) == -1) 
        {
            PCL_ERROR("Couldn't read file rabbit.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;
        }*/
    
        pcl::visualization::CloudViewer        viewer("cloud viewer");
    
        viewer.showCloud(cloud);
    
        while (!viewer.wasStopped()) {
    
        }
    
        system("pause");
    
        return 0;
    }
    View Code

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  • 原文地址:https://www.cnblogs.com/zhaopengpeng/p/15568705.html
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