1. PCL1.8.1安装
1.1 平台介绍
win10系统
vs2017社区版
PCL1.8.1win64版本
1.2 安装准备
PCL安装文件:
集合包:PCL-1.8.1-AllInOne-msvc2017-win64.exe
Debug包:pcl-1.8.1-pdb-msvc2017-win64.zip
CMake:cmake-3.11.1-win64-x64.msi
必须全部下载
1.3 安装
第一步:安装集合包,所有都默认,PATH添加为全部用户即可
第二步:解压pdb包到安装目录下bin文件夹内
第三步:安装CMake,默认安装,PATH添加为全部用户即可
1.4 测试
a. 新建项目目录:test文件夹
b. test文件夹下新建两个文件:source和build
c. 将下面两个文件保存在source目录下
project_inliers.cpp
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected (new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the cloud data
cloud->width = 5;
cloud->height = 1;
cloud->points.resize (cloud->width * cloud->height);
for (size_t i = 0; i < cloud->points.size (); ++i)
{
cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
std::cerr << "Cloud before projection: " << std::endl;
for (size_t i = 0; i < cloud->points.size (); ++i)
std::cerr << " " << cloud->points[i].x << " "
<< cloud->points[i].y << " "
<< cloud->points[i].z << std::endl;
// Create a set of planar coefficients with X=Y=0,Z=1
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
coefficients->values.resize (4);
coefficients->values[0] = coefficients->values[1] = 0;
coefficients->values[2] = 1.0;
coefficients->values[3] = 0;
// Create the filtering object
pcl::ProjectInliers<pcl::PointXYZ> proj;
proj.setModelType (pcl::SACMODEL_PLANE);
proj.setInputCloud (cloud);
proj.setModelCoefficients (coefficients);
proj.filter (*cloud_projected);
std::cerr << "Cloud after projection: " << std::endl;
for (size_t i = 0; i < cloud_projected->points.size (); ++i)
std::cerr << " " << cloud_projected->points[i].x << " "
<< cloud_projected->points[i].y << " "
<< cloud_projected->points[i].z << std::endl;
return (0);
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(project_inliers)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (project_inliers project_inliers.cpp)
target_link_libraries (project_inliers ${PCL_LIBRARIES})
d. 打开CMake的图形界面,选择源码文件夹source和目标文件夹build
e. config配置编译器为vs2017 win64
f. config一次,提示红色,输出显示done,再config一次,无红色,输出显示done
g. generate一次,提示done
h. open project即可
1.5 可能碰到的问题
某些情况提示openNI2.dll找不到,可以将openNI2/Redist目录下的文件拷贝到运行目录下,比如debug目录下,即可解决。