pcl::io::loadBinaryFile<pcl::PointXYZI>需要包含哪些头文件

需要包含以下头文件：

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

其中 `pcl/io/pcd_io.h` 包含了 `loadBinaryFile` 函数的声明，而 `pcl/point_types.h` 则包含了 `pcl::PointXYZI` 点类型的定义。

相关问题

根据 #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>("rabbit.pcd", *cloud) == -1) //* load the file { PCL_ERROR("Couldn't read file example.pcd \n"); return (-1); } std::cout << "Loaded " << cloud->width * cloud->height << " data points from example.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); }编写能读取pcd_v

7文件的程序，你可以按照以下步骤进行编写：

1. 引入PCL库的头文件和IO模块的头文件：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

2. 定义点云对象类型：

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

3. 使用`pcl::io::loadPCDFile()`函数读取pcd文件：

if (pcl::io::loadPCDFile<pcl::PointXYZ>("example.pcd", *cloud) == -1) //* load the file
{
    PCL_ERROR("Couldn't read file example.pcd \n");
    return (-1);
}

4. 遍历点云对象并输出点的坐标：

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;

完整代码示例：

#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>("example.pcd", *cloud) == -1) //* load the file
    {
        PCL_ERROR("Couldn't read file example.pcd \n");
        return (-1);
    }

    std::cout << "Loaded " << cloud->width * cloud->height
              << " data points from example.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);
}

你需要将代码中的 `example.pcd` 修改为你要读取的pcd文件名。运行程序后，它将输出点云中所有点的坐标。

#include <iostream> #include <pcl/io/pcd_io.h> //pcd流头文件 #include <pcl/point_types.h> //点类型即现成的pointT int main(int argc, char** argv) { //创建点云指针 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); //直接读取pcd文件到cloud中，并判断是否读取正确 if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud) == -1) //* load the file { PCL_ERROR("Couldn't read file test_pcd.pcd \n"); return (-1); } // 控制台输出点云宽高(无序点云为总数) std::cout << "Loaded " << cloud->width * cloud->height << " data points from test_pcd.pcd with the following fields: " << std::endl; // 遍历点云输出坐标 for (const auto& point : *cloud) std::cout << " " << point.x << " " << point.y << " " << point.z << std::endl; return (0); }该程序优化成是使用于vs2022和pcl1.13.1读取pcd_v7的程序

好的，您可以将您的代码修改如下以适应pcl1.13.1和pcd_v7：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main(int argc, char** argv) {
    // 创建点云指针
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    // 直接读取pcd文件到cloud中，并判断是否读取正确
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud) == -1) //* load the file
    {
        PCL_ERROR("Couldn't read file rabbit.pcd \n");
        return (-1);
    }

    // 控制台输出点云宽高(无序点云为总数)
    std::cout << "Loaded "
        << cloud->size()
        << " data points from rabbit.pcd with the following fields: "
        << std::endl;

    // 遍历点云输出坐标
    for (const auto& point : *cloud)
        std::cout << "    " << point.x
        << " " << point.y
        << " " << point.z << std::endl;

    return (0);
}

这里，您需要将PointCloud的大小从width * height更改为size()，因为在pcd_v7中没有高度和宽度的概念，而是使用size()来表示点云中点的数量。另外，请确保将文件名更改为您要读取的pcd文件名。