windows环境使用cmake配置pcl

Scarlett2025

已于 2023-06-28 09:09:03 修改

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分类专栏： PCL 文章标签： pcl

于 2023-06-27 17:31:20 首次发布

本文链接：https://blog.csdn.net/Scarlett2025/article/details/131414149

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安装环境

cmake版本：cmake-3.26.3-windows-x86_64

pcl版本：PCL 1.13.1

vs版本：vs2022

配置流程

cmake编译准备：新建两个文件夹source和cmake_bin。source用于存放.cpp文件和CMakeLists.txt 文件；cmake_bin存放配置生成结果

创建测试 .cpp文件

#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 (auto& point: cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }
 
  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
  std::cerr << "Saved " << cloud.size () << " data points to test_pcd.pcd." << std::endl;
 
  for (const auto& point: cloud)
    std::cerr << "    " << point.x << " " << point.y << " " << point.z << std::endl;
 
  return (0);
}

配置CMakeLists.txt 文件：

cmake_minimum_required(VERSION 3.23 FATAL_ERROR)
project(MY_GRAND_PROJECT)
find_package(PCL 1.13.1 REQUIRED COMPONENTS common io)
include_directories(${PCL_INCLUDE_DIRS})  # 包含头文件目录
link_directories(${PCL_LIBRARY_DIRS})     # 设置依赖库链接目录
add_definitions(${PCL_DEFINITIONS})       # 添加预处理器和编译器标记
add_executable(pcd_write_test main.cpp)
target_link_libraries(pcd_write_test ${PCL_LIBRARIES})

注意版本名，项目名和文件名要对应