PCL学习记录——RANSAC

一、示例代码编译

1.1 报错1

/usr/bin/ld: CMakeFiles/random_sample_consensus.dir/random_sample_consensus.cpp.o: undefined reference to symbol 'pthread_condattr_setclock@@GLIBC_2.3.3'
/usr/bin/ld: /lib/x86_64-linux-gnu/libpthread.so.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

CMakeLists.txt中添加：

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")

1.2 报错2

pcl相关的一大堆错误，比如：

/usr/include/pcl-1.10/pcl/point_types.h:550:1: error: ‘minus’ is not a member of ‘pcl::traits’
  550 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PrincipalCurvatures,
  /usr/include/pcl-1.10/pcl/point_types.h:550:1: error: ‘minusscalar’ is not a member of ‘pcl::traits’
  550 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PrincipalCurvatures,
  /usr/include/pcl-1.10/pcl/point_types.h:550:1: error: ‘divscalar’ is not a member of ‘pcl::traits’
  550 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PrincipalCurvatures,

CMakeLists.txt中添加：

set(CMAKE_CXX_STANDARD 14)

1.3 报错3

关于boost、pthread库的：

/usr/bin/ld: CMakeFiles/random_sample_consensus.dir/random_sample_consensus.cpp.o: in function `boost::detail::interruption_checker::interruption_checker(pthread_mutex_t*, pthread_cond_t*)':
random_sample_consensus.cpp:(.text._ZN5boost6detail20interruption_checkerC2EP15pthread_mutex_tP14pthread_cond_t[_ZN5boost6detail20interruption_checkerC5EP15pthread_mutex_tP14pthread_cond_t]+0x29): undefined reference to `boost::detail::get_current_thread_data()'
/usr/bin/ld: CMakeFiles/random_sample_consensus.dir/random_sample_consensus.cpp.o: in function `boost::condition_variable::wait(boost::unique_lock<boost::mutex>&)':
random_sample_consensus.cpp:(.text._ZN5boost18condition_variable4waitERNS_11unique_lockINS_5mutexEEE[_ZN5boost18condition_variable4waitERNS_11unique_lockINS_5mutexEEE]+0x11b): undefined reference to `boost::this_thread::interruption_point()'
/usr/bin/ld: CMakeFiles/random_sample_consensus.dir/random_sample_consensus.cpp.o: in function `boost::condition_variable::do_wait_until(boost::unique_lock<boost::mutex>&, boost::detail::mono_platform_timepoint const&)':
random_sample_consensus.cpp:(.text._ZN5boost18condition_variable13do_wait_untilERNS_11unique_lockINS_5mutexEEERKNS_6detail23mono_platform_timepointE[_ZN5boost18condition_variable13do_wait_untilERNS_11unique_lockINS_5mutexEEERKNS_6detail23mono_platform_timepointE]+0x135): undefined reference to `boost::this_thread::interruption_point()'

CMakeLists.txt中添加：

find_package(Boost REQUIRED COMPONENTS thread)
include_directories(${Boost_INCLUDE_DIR})
link_directories(${Boost_LIBRARY_DIRS})
add_definitions(-DBOOST_ALL_DYN_LINK)

target_link_libraries(random_sample_consensus ${Boost_LIBRARIES})

编译通过，踩坑结束！

二、代码学习

2.1 pcl::console

原代码

if (pcl::console::find_argument(argc, argv, "-s") >= 0 || pcl::console::find_argument(argc, argv, "-sf") >= 0)

pcl::console是命名空间，包括Classes、Enums和Functions
链接: 官方文档