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lidar_pcd2viewer.cpp
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lidar_pcd2viewer.cpp
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#include <iostream>
#include <string>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
int main (int argc, char** argv){
typedef pcl::PointXYZRGBA PointT;
pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);
std::string dir = "/home/deanjin/Desktop/pcd/";
std::string filename = "1539152366.934292000.pcd";
if (pcl::io::loadPCDFile<PointT> ((dir+filename), *cloud) == -1){
//* load the file
PCL_ERROR ("Couldn't read PCD file \n");
return (-1);
}
printf("Loaded %d data points from PCD\n",
cloud->width * cloud->height);
printf("points size is %ld\n", cloud->points.size());
for (size_t i = 0; i < cloud->points.size (); i+=10000)
printf("%8.3f %8.3f %8.3f %5d %5d %5d %5d\n",
cloud->points[i].x,
cloud->points[i].y,
cloud->points[i].z,
cloud->points[i].r,
cloud->points[i].g,
cloud->points[i].b,
cloud->points[i].a
);
pcl::visualization::PCLVisualizer viewer("Cloud viewer");
viewer.setCameraPosition(0,0,-3.0,0,-1,0);
viewer.addCoordinateSystem(0.3);
viewer.addPointCloud(cloud);
while(!viewer.wasStopped())
viewer.spinOnce(100);
return (0);
}
/* CmakeList.txt
cmake_minimum_required(VERSION 2.8.3)
project(test)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
add_executable(test test.cpp)
target_link_libraries(test ${PCL_LIBRARIES})
*/