PCL环境搭配 (PCL1.7.2+WIN8.1+VS2015)

最新推荐文章于 2024-07-23 21:50:27 发布

charles90dc

最新推荐文章于 2024-07-23 21:50:27 发布

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分类专栏： Computer Vision

本文链接：https://blog.csdn.net/charles90dc/article/details/50994296

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1.安装

PCL 1.7.2 All-in-one Installer MSVC2015 Win32

默认在 “C:\Program Files\PCL 1.7.2″ (or “C:\Program Files (x86)\PCL 1.7.2″)

2.配置环境变量

PCL_ROOT	C:\Program Files\PCL 1.7.2 (or C:\Program Files (x86)\PCL 1.7.2)
Path	;%PCL_ROOT%\bin ;%PCL_ROOT%\3rdParty\VTK\bin

3.复制VTK *.dll files 从 “PCL 1.7.2\3rdParty\VTK\bin”到 “PCL 1.7.2\bin”

4.属性管理器添加PCL1.7.2 Property Sheet

5.运行示例代码显示

#include "stdafx.h"
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include<windows.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;
	
	system("pause");
	return (0);
}