PCL环境测试程序

虽然之前装好了环境，也测试过了。但是记性真的差，没几个礼拜没搞就忘了……

重新创建了一个文件夹（PCL_Learning）专门用于学习pcl了，现在写第一个程序，创建了一个工程（Test_environment），开始吧。

KDevelop创建工程时会自动生成CMakeLists.txt文件。我们需要在里面添加pcl的内容。

CMakeLists.txt内容如下：

cmake_minimum_required(VERSION 2.6 FATAL_ERROR) project(test_environment) find_package(PCL 1.8 REQUIRED COMPONENTS common io) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable(test_environment main.cpp) target_link_libraries(test_environment ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})

完成后需要编译，编译完成后继续主程序的编写。

2、main.cpp

程序来自于官方例子：http://pointclouds.org/documentation/tutorials/using_pcl_pcl_config.php#using-pcl-pcl-config

#include <iostream> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h>  int   main (int argc, char** argv) {   pcl::PointCloud<pcl::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); }

最后main.cpp build->execute
测试结果如下：

Saved 5 data points to test_pcd.pcd.     0.352222 -0.151883 -0.106395     -0.397406 -0.473106 0.292602     -0.731898 0.667105 0.441304     -0.734766 0.854581 -0.0361733     -0.4607 -0.277468 -0.916762  

回顾结束，继续看书学。

文章来源: PCL环境测试程序