1#include <iostream>
2#include <pcl/io/pcd_io.h>
3#include <pcl/point_types.h>
4
5int
6main ()
7{
8 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
9
10 if (pcl::io::loadPCDFile<pcl::PointXYZ> ("test_pcd.pcd", *cloud) == -1) //* load the file
11 {
12 PCL_ERROR ("Couldn't read file test_pcd.pcd
");
13 return (-1);
14 }
15 std::cout << "Loaded "
16 << cloud->width * cloud->height
17 << " data points from test_pcd.pcd with the following fields: "
18 << std::endl;
19 for (const auto& point: *cloud)
20 std::cout << " " << point.x
21 << " " << point.y
22 << " " << point.z << std::endl;
23
24 return (0);
25}