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
- 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} )
- 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();
}
}
- 两个pcd文件
- 编译并运行
- 结果