PCL-1.11.1编译（测试example）

编译完PCL之后，就要开始测试一下PCL源码中自带的examples例子了。

examples下有以下几人方面：

那就开始在QtCreator下建立小程序测试一下：

先从common开始吧。

一定要加入QMAKE_CXXFLAGS和DEFINES，这个非常重要。

*.pro项目工程文件如下：

TEMPLATE = app
CONFIG += console
CONFIG -= app_bundle
CONFIG -= qt

DEFINES += BOOST_LIB_DIAGNOSTIC
DEFINES += BOOST_THREAD_USE_LIB
DEFINES += PCL_ONLY_CORE_POINT_TYPES
DEFINES += qh_QHpointer

QMAKE_CXXFLAGS += -Wabi=11 -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion -march=native -msse4.2 -mfpmath=sse -O3 -DNDEBUG   -std=c++14

#QMAKE_CXXFLAGS += -march=native -msse4.2 -mfpmath=sse -O3 -std=c++14

#QMAKE_CXXFLAGS += -std=c++14
#QMAKE_CXXFLAGS += /openmp
#LIBS += -lgomp -lpthread

INCLUDEPATH += C:/msys64/usr/local/include
LIBS +=

INCLUDEPATH += C:/boost/include/boost-1_69
LIBS += \
C:/boost/lib/libboost_system-mgw73-mt-x64-1_69.dll.a \
C:/boost/lib/libboost_filesystem-mgw73-mt-x64-1_69.dll.a

INCLUDEPATH += C:/msys64/usr/local/include/eigen3

INCLUDEPATH += C:/msys64/usr/local/PCL/include/pcl-1.11
LIBS += \
C:/msys64/usr/local/PCL/lib/libpcl_common.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_filters.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_sample_consensus.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_search.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_kdtree.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_octree.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_io.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_keypoints.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_features.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_stereo.dll.a \
C:/msys64/usr/local/PCL/lib/libpcl_surface.dll.a
SOURCES += \
        main.cpp

复制一下pcl-pcl-1.11.1\examples\common\example_copy_point_cloud.cpp

/*
 * Software License Agreement (BSD License)
 *
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2011, Willow Garage, Inc.
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * * Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above
 *   copyright notice, this list of conditions and the following
 *   disclaimer in the documentation and/or other materials provided
 *   with the distribution.
 * * Neither the name of Willow Garage, Inc. nor the names of its
 *   contributors may be used to endorse or promote products derived
 *   from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: example_CopyPointCloud.cpp 4117 2012-01-31 17:56:02Z aichim $
 *
 */

/* This example demonstrates how to copy a point cloud. The destination
 * cloud is not required to have the same PointType as the source cloud,
 * but of course the destination PointType must have a superset of the
 * members of the source PointType.
 */

#include <iostream>

#include <pcl/common/io.h>

static void
sameType ();

static void
differenceType ();

// We show this function as an example of what you cannot do.
// static void
// badConversion ();

int
main ()
{
  sameType();
  differenceType();
  // badConversion();
  return 0;
}

void
sameType ()
{
  using CloudType = pcl::PointCloud<pcl::PointXYZ>;
  CloudType::Ptr cloud (new CloudType);

  CloudType::PointType p;
  p.x = 1; p.y = 2; p.z = 3;
  cloud->push_back(p);
  std::cout << p.x << " " << p.y << " " << p.z << std::endl;

  CloudType::Ptr cloud2(new CloudType);
  copyPointCloud(*cloud, *cloud2);

  CloudType::PointType p_retrieved = (*cloud2)[0];
  std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}

void
differenceType ()
{
  using CloudType = pcl::PointCloud<pcl::PointXYZ>;
  CloudType::Ptr cloud (new CloudType);

  CloudType::PointType p;
  p.x = 1; p.y = 2; p.z = 3;
  cloud->push_back(p);
  std::cout << p.x << " " << p.y << " " << p.z << std::endl;

  using CloudType2 = pcl::PointCloud<pcl::PointNormal>;
  CloudType2::Ptr cloud2(new CloudType2);
  copyPointCloud(*cloud, *cloud2);

  CloudType2::PointType p_retrieved = (*cloud2)[0];
  std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}

/*
// Of course you can't do this, because pcl::Normal does not have x,y,z members:
error: ‘pcl::PointCloud<pcl::Normal>::PointType’ has no member named ‘x’

void
badConversion ()
{
  using CloudType = pcl::PointCloud<pcl::PointXYZ>;
  CloudType::Ptr cloud (new CloudType);
  
  CloudType::PointType p;
  p.x = 1; p.y = 2; p.z = 3;
  cloud->push_back(p);
  std::cout << p.x << " " << p.y << " " << p.z << std::endl;

  using CloudType2 = pcl::PointCloud<pcl::Normal>;
  CloudType2::Ptr cloud2(new CloudType2);
  copyPointCloud(*cloud, *cloud2);
  
  CloudType2::PointType p_retrieved = (*cloud2)[0];
  std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}

*/

编译运行：

不错的东东。

多谢，亲爱的美美。