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<!-- Local TOC -->
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<li><a class="reference internal" href="#">Reading Point Cloud data from PCD files</a></li>
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<li><a class="reference internal" href="#the-code">The code</a></li>
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<li><a class="reference internal" href="#the-explanation">The explanation</a></li>
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<div class="section" id="reading-point-cloud-data-from-pcd-files">
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<span id="reading-pcd"></span><h1>Reading Point Cloud data from PCD files</h1>
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<p>In this tutorial we will learn how to read point cloud data from a PCD file.</p>
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</div>
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<div class="section" id="the-code">
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<h1>The code</h1>
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<p>First, create a file called, let’s say, <code class="docutils literal notranslate"><span class="pre">pcd_read.cpp</span></code> in your favorite
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editor, and place the following code inside it:</p>
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<div class="highlight-cpp notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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25</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><iostream></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/io/pcd_io.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/point_types.h></span><span class="cp"></span>
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<span class="kt">int</span>
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<span class="nf">main</span> <span class="p">()</span>
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<span class="p">{</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
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<span class="k">if</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">io</span><span class="o">::</span><span class="n">loadPCDFile</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">(</span><span class="s">"test_pcd.pcd"</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span> <span class="o">==</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="c1">//* load the file</span>
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<span class="p">{</span>
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<span class="n">PCL_ERROR</span> <span class="p">(</span><span class="s">"Couldn't read file test_pcd.pcd </span><span class="se">\n</span><span class="s">"</span><span class="p">);</span>
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<span class="k">return</span> <span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">);</span>
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<span class="p">}</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cout</span> <span class="o"><<</span> <span class="s">"Loaded "</span>
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<span class="o"><<</span> <span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-></span><span class="n">height</span>
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<span class="o"><<</span> <span class="s">" data points from test_pcd.pcd with the following fields: "</span>
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<span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cout</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span>
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<span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span>
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<span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="k">return</span> <span class="p">(</span><span class="mi">0</span><span class="p">);</span>
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<span class="p">}</span>
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</pre></div>
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</td></tr></table></div>
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</div>
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<div class="section" id="the-explanation">
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<h1>The explanation</h1>
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<p>Now, let’s break down the code piece by piece.</p>
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<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
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</pre></div>
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</div>
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<p>creates a PointCloud<PointXYZ> boost shared pointer and initializes it.</p>
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<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="k">if</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">io</span><span class="o">::</span><span class="n">loadPCDFile</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">(</span><span class="s">"test_pcd.pcd"</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span> <span class="o">==</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="c1">//* load the file</span>
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<span class="p">{</span>
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<span class="n">PCL_ERROR</span> <span class="p">(</span><span class="s">"Couldn't read file test_pcd.pcd </span><span class="se">\n</span><span class="s">"</span><span class="p">);</span>
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<span class="k">return</span> <span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">);</span>
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<span class="p">}</span>
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</pre></div>
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</div>
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<p>loads the PointCloud data from disk (we assume that test_pcd.pcd has already
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been created from the previous tutorial) into the binary blob.</p>
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<p>Alternatively, you can read a PCLPointCloud2 blob (available only in PCL 1.x). Due
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to the dynamic nature of point clouds, we prefer to read them as binary blobs,
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and then convert to the actual representation that we want to use.</p>
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<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">pcl</span><span class="o">::</span><span class="n">PCLPointCloud2</span> <span class="n">cloud_blob</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">io</span><span class="o">::</span><span class="n">loadPCDFile</span> <span class="p">(</span><span class="s">"test_pcd.pcd"</span><span class="p">,</span> <span class="n">cloud_blob</span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">fromPCLPointCloud2</span> <span class="p">(</span><span class="n">cloud_blob</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud</span><span class="p">);</span> <span class="c1">//* convert from pcl/PCLPointCloud2 to pcl::PointCloud<T></span>
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</pre></div>
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</div>
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<p>reads and converts the binary blob into the templated PointCloud format, here
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using pcl::PointXYZ as the underlying point type.</p>
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<p>Finally:</p>
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<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cout</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span>
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<span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span>
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<span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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</pre></div>
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</div>
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<p>is used to show the data that was loaded from file.</p>
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</div>
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<div class="section" id="compiling-and-running-the-program">
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<h1>Compiling and running the program</h1>
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<p>Add the following lines to your CMakeLists.txt file:</p>
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<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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2
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3
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12</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
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<span class="nb">project</span><span class="p">(</span><span class="s">pcd_read</span><span class="p">)</span>
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<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.2</span> <span class="s">REQUIRED</span><span class="p">)</span>
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<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
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<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
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<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
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<span class="nb">add_executable</span> <span class="p">(</span><span class="s">pcd_read</span> <span class="s">pcd_read.cpp</span><span class="p">)</span>
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<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">pcd_read</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
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</pre></div>
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</td></tr></table></div>
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<p>After you have made the executable, you can run it. Simply do:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./pcd_read
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</pre></div>
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</div>
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<p>You will see something similar to:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Loaded</span> <span class="mi">5</span> <span class="n">data</span> <span class="n">points</span> <span class="kn">from</span> <span class="nn">test_pcd.pcd</span> <span class="k">with</span> <span class="n">the</span> <span class="n">following</span> <span class="n">fields</span><span class="p">:</span> <span class="n">x</span> <span class="n">y</span> <span class="n">z</span>
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<span class="mf">0.35222</span> <span class="o">-</span><span class="mf">0.15188</span> <span class="o">-</span><span class="mf">0.1064</span>
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<span class="o">-</span><span class="mf">0.39741</span> <span class="o">-</span><span class="mf">0.47311</span> <span class="mf">0.2926</span>
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<span class="o">-</span><span class="mf">0.7319</span> <span class="mf">0.6671</span> <span class="mf">0.4413</span>
|
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<span class="o">-</span><span class="mf">0.73477</span> <span class="mf">0.85458</span> <span class="o">-</span><span class="mf">0.036173</span>
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<span class="o">-</span><span class="mf">0.4607</span> <span class="o">-</span><span class="mf">0.27747</span> <span class="o">-</span><span class="mf">0.91676</span>
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</pre></div>
|
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</div>
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<p>Note that if the file test_pcd.pcd does not exist (either it hasn’t been
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created or it has been erased), you should get an error message such as:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Couldn</span><span class="s1">'t read file test_pcd.pcd</span>
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</pre></div>
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