#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <iostream>int main(int argc, char** argv)
{if (argc != 2) {std::cerr << "请指定 PCD 文件路径" << std::endl;return -1;}// 创建一个点云对象pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);// 读取点云文件if (pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud) == -1) {PCL_ERROR("Couldn't read file\n");return (-1);}std::cout << "Loaded " << cloud->width * cloud->height << " data points from " << argv[1] << std::endl;// 打印点云中的一些信息for (std::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;
}

 在linux上使用CMake编译，需要写CMakeLists文件。下面是和上面的main.cpp文件配套的CMakeLists文件，可以改一下project名称和生成的可执行文件的名称。

cmake_minimum_required(VERSION 3.0.2)
project(PCLDEMO)# 查找 PCL 库
find_package(PCL 1.8 REQUIRED)# 包含 PCL 头文件
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})# 添加可执行文件
add_executable(pcl_demo src/main.cpp)# 链接 PCL 库
target_link_libraries(pcl_demo ${PCL_LIBRARIES})

最后在命令行编译：

./pcl_demo your_point_cloud.pcd