软件安装——Ubuntu14.04 + pcl + 测试

安装pcl

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all

安装完成后,PCL的头文件放在/usr/include/pcl-1.7下
库文件在/usr/lib/下
使用时，在编译后

pcl_viewer map.pcd

测试

1. CMakeLists

cmake_minimum_required(VERSION 3.6)
project(untitled)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

# 寻找OpenCV库
FIND_PACKAGE( OpenCV REQUIRED )
# 添加头文件
INCLUDE_DIRECTORIES( ${OpenCV_INCLUDE_DIRS} )

# pcl
find_package(PCL 1.6 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

set(SOURCE_FILES main.cpp)
add_executable(untitled ${SOURCE_FILES})

# 链接OpenCV库
target_link_libraries( untitled ${OpenCV_LIBS} )

# 链接pcl库
target_link_libraries( untitled ${PCL_LIBRARIES} )

2. cpp

#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>
#include <pcl/io/io.h>
// -----Main-----
int main (int argc, char** argv) {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>); //用loadFile读入两个文件，赋于cloud和cloud_filtered
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("/home/dzh/Desktop/case_test/box_xyz/1/t1.pcd", *cloud) == -1)//*打开点云文件
    {
        PCL_ERROR("Couldn't read file masks.pcd\n");
        return (-1);
    }
    std::cout << "Loaded 1" << std::endl;
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("/home/dzh/Desktop/case_test/clusters1.pcd", *cloud_filtered) == -1)//*打开点云文件
    {
        PCL_ERROR("Couldn't read file mask.pcd\n");
        return (-1);
    }
    std::cout << "Loaded 2" << std::endl; //可视化
    //viewer->addPointCloud(cloud, "sample cloud1"); //双视口
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    viewer->initCameraParameters();
    int v1(0), v2(0);;
    viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);//(Xmin,Ymin,Xmax,Ymax)设置窗口坐标
    viewer->setBackgroundColor(0, 0, 0, v1);//设置背景
    viewer->addText("original", 10, 10, "v1 text", v1);//设置视口名称
    viewer->addPointCloud(cloud, "sample cloud1", v1);//添加点云
    viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
    viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
    viewer->addText("after filtered", 10, 10, "v2 text", v2);
    viewer->addPointCloud(cloud_filtered, "sample cloud2", v2);
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_FONT_SIZE, 3, "sample cloud1");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_FONT_SIZE, 3, "sample cloud2");
    while (!viewer->wasStopped()) {
        viewer->spinOnce();
    }
}

3. 两个pcd文件
4. 编译并运行
5. 结果