问题
VS2019上使用PCL1.10.0出现如下问题:
出次问题的测试代码是书pcl入门到精通的配套代码其中一个:
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/range_image/range_image.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/features/range_image_border_extractor.h>
#include <pcl/console/parse.h>
typedef pcl::PointXYZ PointType;
// --------------------
// -----Parameters-----
// --------------------
float angular_resolution = 0.5f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;
// --------------
// -----Help-----
// --------------
void
printUsage(const char* progName)
{
std::cout << "\n\nUsage: " << progName << " [options] <scene.pcd>\n\n"
<< "Options:\n"
<< "-------------------------------------------\n"
<< "-r <float> angular resolution in degrees (default " << angular_resolution << ")\n"
<< "-c <int> coordinate frame (default " << (int)coordinate_frame << ")\n"
<< "-m Treat all unseen points to max range\n"
<< "-h this help\n"
<< "\n\n";
}
// --------------
// -----Main-----
// --------------
int
main(int argc, char** argv)
{
// --------------------------------------
// -----Parse Command Line Arguments-----
// --------------------------------------
if (pcl::console::find_argument(argc, argv, "-h") >= 0)
{
printUsage(argv[0]);
return 0;
}
if (pcl::console::find_argument(argc, argv, "-m") >= 0)
{
setUnseenToMaxRange = true;
cout << "Setting unseen values in range image to maximum range readings.\n";
}
int tmp_coordinate_frame;
if (pcl::console::parse(argc, argv, "-c", tmp_coordinate_frame) >= 0)
{
coordinate_frame = pcl::RangeImage::CoordinateFrame(tmp_coordinate_frame);
cout << "Using coordinate frame " << (int)coordinate_frame << ".\n";
}
if (pcl::console::parse(argc, argv, "-r", angular_resolution) >= 0)
cout << "Setting angular resolution to " << angular_resolution << "deg.\n";
angular_resolution = pcl::deg2rad(angular_resolution);
// ------------------------------------------------------------------
// -----Read pcd file or create example point cloud if not given-----
// ------------------------------------------------------------------
pcl::PointCloud<PointType>::Ptr point_cloud_ptr(new pcl::PointCloud<PointType>);
pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
pcl::PointCloud<pcl::PointWithViewpoint> far_ranges;
Eigen::Affine3f scene_sensor_pose(Eigen::Affine3f::Identity()); //传感器的位置
std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument(argc, argv, "pcd");
if (!pcd_filename_indices.empty())
{
std::string filename = argv[pcd_filename_indices[0]];
if (pcl::io::loadPCDFile(filename, point_cloud) == -1) //打开文件
{
cout << "Was not able to open file \"" << filename << "\".\n";
printUsage(argv[0]);
return 0;
}
scene_sensor_pose = Eigen::Affine3f(Eigen::Translation3f(point_cloud.sensor_origin_[0],
point_cloud.sensor_origin_[1],
point_cloud.sensor_origin_[2])) *
Eigen::Affine3f(point_cloud.sensor_orientation_); //仿射变换矩阵
std::string far_ranges_filename = pcl::getFilenameWithoutExtension(filename) + "_far_ranges.pcd";
if (pcl::io::loadPCDFile(far_ranges_filename.c_str(), far_ranges) == -1)
std::cout << "Far ranges file \"" << far_ranges_filename << "\" does not exists.\n";
}
else
{
cout << "\nNo *.pcd file given => Genarating example point cloud.\n\n";
for (float x = -0.5f; x <= 0.5f; x += 0.01f) //填充一个矩形的点云
{
for (float y = -0.5f; y <= 0.5f; y += 0.01f)
{
PointType point; point.x = x; point.y = y; point.z = 2.0f - y;
point_cloud.points.push_back(point);
}
}
point_cloud.width = (int)point_cloud.points.size(); point_cloud.height = 1;
}
// -----------------------------------------------
// -----Create RangeImage from the PointCloud-----
// -----------------------------------------------
float noise_level = 0.0; //各种参数的设置
float min_range = 0.0f;
int border_size = 1;
boost::shared_ptr<pcl::RangeImage> range_image_ptr(new pcl::RangeImage);
pcl::RangeImage& range_image = *range_image_ptr;
range_image.createFromPointCloud(point_cloud, angular_resolution, pcl::deg2rad(360.0f), pcl::deg2rad(180.0f),
scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
range_image.integrateFarRanges(far_ranges);
if (setUnseenToMaxRange)
range_image.setUnseenToMaxRange();
// --------------------------------------------
// -----Open 3D viewer and add point cloud-----
// --------------------------------------------
pcl::visualization::PCLVisualizer viewer("3D Viewer"); //创建视口
viewer.setBackgroundColor(1, 1, 1); //设置背景颜色
viewer.addCoordinateSystem(1.0f); //设置坐标系
pcl::visualization::PointCloudColorHandlerCustom<PointType> point_cloud_color_handler(point_cloud_ptr, 0, 0, 0);
viewer.addPointCloud(point_cloud_ptr, point_cloud_color_handler, "original point cloud"); //添加点云
//PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 150, 150, 150);
//viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
//viewer.setPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 2, "range image");
// -------------------------
// -----Extract borders提取边界的部分-----
// -------------------------
pcl::RangeImageBorderExtractor border_extractor(&range_image);
pcl::PointCloud<pcl::BorderDescription> border_descriptions;
border_extractor.compute(border_descriptions); //提取边界计算描述子
// -------------------------------------------------------
// -----Show points in 3D viewer在3D 视口中显示点云-----
// ----------------------------------------------------
pcl::PointCloud<pcl::PointWithRange>::Ptr border_points_ptr(new pcl::PointCloud<pcl::PointWithRange>), //物体边界
veil_points_ptr(new pcl::PointCloud<pcl::PointWithRange>), //veil边界
shadow_points_ptr(new pcl::PointCloud<pcl::PointWithRange>); //阴影边界
pcl::PointCloud<pcl::PointWithRange>& border_points = *border_points_ptr,
& veil_points = *veil_points_ptr,
& shadow_points = *shadow_points_ptr;
for (int y = 0; y < (int)range_image.height; ++y)
{
for (int x = 0; x < (int)range_image.width; ++x)
{
if (border_descriptions.points[y * range_image.width + x].traits[pcl::BORDER_TRAIT__OBSTACLE_BORDER])
border_points.points.push_back(range_image.points[y * range_image.width + x]);
if (border_descriptions.points[y * range_image.width + x].traits[pcl::BORDER_TRAIT__VEIL_POINT])
veil_points.points.push_back(range_image.points[y * range_image.width + x]);
if (border_descriptions.points[y * range_image.width + x].traits[pcl::BORDER_TRAIT__SHADOW_BORDER])
shadow_points.points.push_back(range_image.points[y * range_image.width + x]);
}
}
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> border_points_color_handler(border_points_ptr, 0, 255, 0);
viewer.addPointCloud<pcl::PointWithRange>(border_points_ptr, border_points_color_handler, "border points");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "border points");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> veil_points_color_handler(veil_points_ptr, 255, 0, 0);
viewer.addPointCloud<pcl::PointWithRange>(veil_points_ptr, veil_points_color_handler, "veil points");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "veil points");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> shadow_points_color_handler(shadow_points_ptr, 0, 255, 255);
viewer.addPointCloud<pcl::PointWithRange>(shadow_points_ptr, shadow_points_color_handler, "shadow points");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "shadow points");
//-------------------------------------
// -----Show points on range image-----
// ------------------------------------
pcl::visualization::RangeImageVisualizer* range_image_borders_widget = NULL;
range_image_borders_widget =
pcl::visualization::RangeImageVisualizer::getRangeImageBordersWidget(range_image, -std::numeric_limits<float>::infinity(), std::numeric_limits<float>::infinity(), false,
border_descriptions, "Range image with borders");
// -------------------------------------
//--------------------
// -----Main loop-----
//--------------------
while (!viewer.wasStopped())
{
range_image_borders_widget->spinOnce();
viewer.spinOnce();
pcl_sleep(0.01);
}
}
解决方法:
原因不知,学问不够,另寻他路:
改用pcl1.8.0的win32版本,这里有讲如何配置:win10+vs2013配置pcl 1.8.0(在vs2019上也是一样地去配置)
如果接下来又出现:
error C2039: “_Insert_n”: 不是 “std::vector<Eigen::internal::workaround_msvc_stl_support,Eigen::aligned_allocator_indirection<Eigen::internal::workaround_msvc_stl_support>>” 的成员
更改项目属性的平台工具集
红框里面的两个2013都可以
结果:
完
边学边用,如有错漏,敬请指正
--------------------------------------------------------------------------------------------诺有缸的高飞鸟202007