pcd_read.cpp
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: pcd_read.cpp 30899 2010-07-16 04:56:51Z rusu $ 00035 * 00036 */ 00037 00046 #include "pcl/io/pcd_io.h" 00047 #include "pcl/point_types.h" 00048 00049 /* ---[ */ 00050 int 00051 main (int argc, char** argv) 00052 { 00053 sensor_msgs::PointCloud2 cloud_blob; 00054 pcl::PointCloud<pcl::PointXYZ> cloud; 00055 00056 if (pcl::io::loadPCDFile ("test_pcd.pcd", cloud_blob) == -1) 00057 { 00058 ROS_ERROR ("Couldn't read file test_pcd.pcd"); 00059 return (-1); 00060 } 00061 ROS_INFO ("Loaded %d data points from test_pcd.pcd with the following fields: %s", (int)(cloud_blob.width * cloud_blob.height), pcl::getFieldsList (cloud_blob).c_str ()); 00062 00063 // Convert to the templated message type 00064 pcl::fromROSMsg (cloud_blob, cloud); 00065 00066 for (size_t i = 0; i < cloud.points.size (); ++i) 00067 std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl; 00068 00069 return (0); 00070 } 00071 /* ]--- */