本篇博客主要介绍在ROS系统完成PCL的简单示例。
首先在catkin_ws/src目录下创建项目包:
catkin_create_pkg demo std_msgs rospy roscpp
到demo目录下创建cloud_viewer.cpp文件
gedit cloud_viewer.cpp
并输入如下代码:
#include <pcl/visualization/cloud_viewer.h> #include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> int user_data; void viewerOneOff (pcl::visualization::PCLVisualizer& viewer) { viewer.setBackgroundColor (1.0, 0.5, 1.0); pcl::PointXYZ o; o.x = 1.0; o.y = 0; o.z = 0; viewer.addSphere (o, 0.25, "sphere", 0); std::cout << "i only run once" << std::endl; } void viewerPsycho (pcl::visualization::PCLVisualizer& viewer) { static unsigned count = 0; std::stringstream ss; ss << "Once per viewer loop: " << count++; viewer.removeShape ("text", 0); viewer.addText (ss.str(), 200, 300, "text", 0); //FIXME: possible race condition here: user_data++; } int main () { pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>); pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud); pcl::visualization::CloudViewer viewer("Cloud Viewer"); //blocks until the cloud is actually rendered viewer.showCloud(cloud); //use the following functions to get access to the underlying more advanced/powerful //PCLVisualizer //This will only get called once viewer.runOnVisualizationThreadOnce (viewerOneOff); //This will get called once per visualization iteration viewer.runOnVisualizationThread (viewerPsycho); while (!viewer.wasStopped ()) { //you can also do cool processing here //FIXME: Note that this is running in a separate thread from viewerPsycho //and you should guard against race conditions yourself... user_data++; } return 0; }
修改CMakeLists.txt为如下代码:
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(cloud_viewer)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (cloud_viewer cloud_viewer.cpp)
target_link_libraries (cloud_viewer ${PCL_LIBRARIES})
运行如下命令进行编译:
sudo cmake .
sudo make
最后运行 ./cloud_viewer ,即可看到如下结果(可能需要用鼠标调整一下角度才能看到):
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编程技术与生活(ID:hw_cchang)