pcl点云库学习笔记

点云文件的打开。

#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include<stdlib.h>


int main(int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile<pcl::PointXYZ>("d:\\points.pcd", *cloud);
pcl::PointXYZ minPt, maxPt;
pcl::getMinMax3D(*cloud, minPt, maxPt);
std::cout << "Max x: " << maxPt.x << std::endl;
std::cout << "Max y: " << maxPt.y << std::endl;
std::cout << "Max z: " << maxPt.z << std::endl;
std::cout << "Min x: " << minPt.x << std::endl;
std::cout << "Min y: " << minPt.y << std::endl;
std::cout << "Min z: " << minPt.z << std::endl;
system("pause");


return 0;
}