2.PCL 对于点云的读写

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#include <iostream>
#include <pcl/io/pcd_io.h>     // 用于读写 PCD 文件
#include <pcl/io/ply_io.h>     // 用于读写 PLY 文件
#include <pcl/point_types.h>   // 点类型定义// 使用 PointXYZ 类型作为点云中的点类型
typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloud;int main()
{// 创建点云指针PointCloud::Ptr cloud(new PointCloud);// 1. 读取 PCD 或 PLY 文件std::string filename = "D:/PCL/monkey.ply";  // 使用正斜杠或双反斜杠// 自动识别文件格式并读取if (filename.substr(filename.find_last_of(".") + 1) == "pcd"){if (pcl::io::loadPCDFile(filename, *cloud) == -1){PCL_ERROR("Couldn't read file %s \n", filename.c_str());return (-1);}}else if (filename.substr(filename.find_last_of(".") + 1) == "ply"){if (pcl::io::loadPLYFile(filename, *cloud) == -1){PCL_ERROR("Couldn't read file %s \n", filename.c_str());return (-1);}}else{std::cerr << "Unsupported file format!" << std::endl;return -1;}std::cout << "Loaded "<< cloud->width * cloud->height<< " data points from " << filename << std::endl;//// 2. 打印点云信息（可选）// for (const auto& point : *cloud)// {//     std::cout << "Point: " << point.x << ", " << point.y << ", " << point.z << std::endl;// }// 3. 保存 PCD 或 PLY 文件std::string output_filename = "output_cloud.pcd"; // 你可以改为 .plyif (output_filename.substr(output_filename.find_last_of(".") + 1) == "pcd"){pcl::io::savePCDFile(output_filename, *cloud);}else if (output_filename.substr(output_filename.find_last_of(".") + 1) == "ply"){pcl::io::savePLYFile(output_filename, *cloud);}else{std::cerr << "Unsupported output file format!" << std::endl;return -1;}std::cout << "Saved "<< cloud->width * cloud->height<< " data points to " << output_filename << std::endl;return 0;
}