00001 #include <iostream> 00002 #include <pcl/io/pcd_io.h> 00003 #include <pcl/point_types.h> 00004 00005 int 00006 main (int argc, char** argv) 00007 { 00008 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>); 00009 00010 if (pcl::io::loadPCDFile<pcl::PointXYZ> ("test_pcd.pcd", *cloud) == -1) //* load the file 00011 { 00012 PCL_ERROR ("Couldn't read file test_pcd.pcd \n"); 00013 return (-1); 00014 } 00015 std::cout << "Loaded " 00016 << cloud->width * cloud->height 00017 << " data points from test_pcd.pcd with the following fields: " 00018 << std::endl; 00019 for (size_t i = 0; i < cloud->points.size (); ++i) 00020 std::cout << " " << cloud->points[i].x 00021 << " " << cloud->points[i].y 00022 << " " << cloud->points[i].z << std::endl; 00023 00024 return (0); 00025 }