2015-7-28 调试pcl



   #include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/pfh.h>
 
int
main(int argc, char** argv)
{
 // Object for storing the point cloud.
 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 // Object for storing the normals.
 pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
 // Object for storing the PFH descriptors for each point.
 pcl::PointCloud<pcl::PFHSignature125>::Ptr descriptors(new pcl::PointCloud<pcl::PFHSignature125>());
 
 // Read a PCD file from disk.
 if(argc==1)
  return -1;
 if (pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud) != 0)
 {
  return -1;
 }
 
 // Note: you would usually perform downsampling now. It has been omitted here
 // for simplicity, but be aware that computation can take a long time.
 
 // Estimate the normals.
 pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normalEstimation;
 normalEstimation.setInputCloud(cloud);
 normalEstimation.setRadiusSearch(0.03);
 pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree(new pcl::search::KdTree<pcl::PointXYZ>);
 normalEstimation.setSearchMethod(kdtree);
 normalEstimation.compute(*normals);
 
 // PFH estimation object.
 pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> pfh;
 pfh.setInputCloud(cloud);
 pfh.setInputNormals(normals);
 pfh.setSearchMethod(kdtree);
 // Search radius, to look for neighbors. Note: the value given here has to be
 // larger than the radius used to estimate the normals.
 pfh.setRadiusSearch(0.05);
 
 pfh.compute(*descriptors);
}

1.vs2010中出现这种情况，首先设置断点，看一下问题出在哪条语句，此次调试，问题出现在

if (pcl::io::loadPCDFile<pcl::PointXYZ>(argv[1], *cloud) != 0)   在pcl中，此句是用来导入点云图，所以修改办法是在属性 ，调试，命令参数  中加入cpd文件

或者为了避免发生这种情况，也可以if(argc==1)    return -1; 加入此语句，是为了让argc等于1的时候，也有输出