c++ - 如何使用 PCL 读取 .ply 文件

Question

我可以使用这个程序读取 .pcd 数据。

#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> ("airplane.pcd", *cloud) == -1) //* load the file
  {
    PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
    return (-1);
  }
  std::cout << "Loaded "
            << cloud->width * cloud->height
            << " data points from test_pcd.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);
}

如何读取 .ply 文件我在第 10 行做了以下更改:

if (pcl::io::loadPLYFile<pcl::PointXYZ> ("airplane.ply", *cloud) == -1) //* load the file

它给出了编译错误。

所以我重写为:

if (pcl::io::loadPCDFile<pcl::PointXYZ> ("airplane.ply", *cloud) == -1) //* load the file

现在它给了我运行时错误:

[pcl::PCDReader::readHeader] No points to read
Couldn't read file test_pcd.pcd 

如何解决？

Answer 1

pcl::io::loadPLYFile() 函数确实是您应该用来读取 PLY 文件的函数。要解决编译问题，请确保包含适当的头文件 (pcl/io/ply_io.h)。