PCL学习心得剖析.docx

1. Using PCL in your own project This tutorial explains how to use PCL in your own projects. Project settings Let us say the project is placed under /PATH/TO/MY/GRAND/PROJECT that contains a lonely cpp file name pcd_write.cpp (copy it from the Writing Point Cloud data to PCD files tutorial). #include iostream #include pcl/io/pcd_io.h #include pcl/point_types.h int main (int argc, char** argv) { pcl::PointCloudpcl::PointXYZ cloud; // Fill in the cloud data cloud.width = 5; cloud.height = 1; cloud.is_dense = false; 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); } pcl::io::savePCDFileASCII (test_pcd.pcd, cloud); std::cerr Saved cloud.points.size () data points to test_pcd.pcd. 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; return (0); } In the same folder, create a file named CMakeLists.txt that contains: cmake_minimum_required(VERSION 2.6 FATAL_ERROR) project(MY_GRAND_PROJECT) find_package(PCL 1.3 REQUIRED COMPONENTS common io) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable(pcd_write_test pcd_write.cpp) target_link_libraries(pcd_write_test ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES}) The explanation cmake_minimum_required(VERSION 2.6 FATAL_ERROR) This is mandatory（强制的） for cmake, and since we are making very basic project we don’t need features from cmake 2.8 or higher. project(MY_GRAND_PROJECT) This line names your project and sets some useful cmake variables such as those to refer to the source directory (MY_GRAND_PROJECT_SOURCE_DIR) and the directory from which you are invoking cmake (MY_GRAND_PROJECT_BINARY_