首先在ubuntu商店下载clion应用程序,然后最关键的一布是配置CMakeists.txt文件,如下,代码注释很清楚,修改参数即可。
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(cloud_viewer)
if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
endif()
find_package(PCL 1.2 REQUIRED)
include_directories(/usr/include/pcl-1.10/pcl)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (untitled main.cpp)
target_link_libraries (untitled ${PCL_LIBRARIES})
最关键的是这两段代码,加上就可以运行正常。
if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
endif()
include_directories(/usr/include/pcl-1.10/pcl)
测试代码:
cpp文件:
#include <iostream>#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
int
genwrite()
{
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.width = 10000;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize(cloud.width * cloud.height);
for (size_t i = 0; i < cloud.points.size(); ++i)
{
cloud.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
pcl::io::savePCDFileASCII("selfgen.pcd", cloud);
return(0);
}
int
main(int argc, char** argv)
{
genwrite();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if (pcl::io::loadPCDFile<pcl::PointXYZ>("selfgen.pcd", *cloud) == -1)
{
PCL_ERROR("Couldn't read file test_pcd.pcd\n");return(-1);
}
pcl::visualization::CloudViewer viewer("simple cloud viewer");
viewer.showCloud(cloud);
while (!viewer.wasStopped())
{
}
return(0);
}
CMakeLists.cpp
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(cloud_viewer)
if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
endif()
find_package(PCL 1.2 REQUIRED)
include_directories(/usr/include/pcl-1.10/pcl)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (untitled main.cpp)
target_link_libraries (untitled ${PCL_LIBRARIES})
输出结果:
注:
一定要用自己的.cpp名称,我这里是main.cpp,在cmakelists.txt里换成你自己的项目名。