2018-01-01:Reading Point Cloud d

main.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)
project(pcd_read)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(${PROJECT_NAME} "main.cpp")
target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})

execute the program:

./pcd_read test_pcd.pcd

Note: you should keep the pcd file in the same directory