PCL GPU 测试代码 CMake

CMake

# CMakeList.txt: PCL_GPU_TEST 的 CMake 项目，在此处包括源代码并定义
# 项目特定的逻辑。
#
cmake_minimum_required (VERSION 3.8)

# 如果支持，请为 MSVC 编译器启用热重载。
if (POLICY CMP0141)
  cmake_policy(SET CMP0141 NEW)
  set(CMAKE_MSVC_DEBUG_INFORMATION_FORMAT "$<IF:$<AND:$<C_COMPILER_ID:MSVC>,$<CXX_COMPILER_ID:MSVC>>,$<$<CONFIG:Debug,RelWithDebInfo>:EditAndContinue>,$<$<CONFIG:Debug,RelWithDebInfo>:ProgramDatabase>>")
endif()

project ("PCL_GPU_TEST")

find_package(PCL REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

# 将源代码添加到此项目的可执行文件。
add_executable (PCL_GPU_TEST "PCL_GPU_TEST.cpp""PCL_GPU_TEST.h")
target_link_libraries (PCL_GPU_TEST ${PCL_LIBRARIES})

if (CMAKE_VERSION VERSION_GREATER 3.12)
  set_property(TARGET PCL_GPU_TEST PROPERTY CXX_STANDARD 20)
endif()

# TODO: 如有需要，请添加测试并安装目标。

CPP

#include <pcl/gpu/octree/octree.hpp>
#include <pcl/gpu/containers/device_array.hpp>

#include <pcl/io/openni_grabber.h>
#include <pcl/io/pcd_io.h>
#include <pcl/memory.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>

#include <iostream>

int main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZ> cloud;
    cloud.width = 500;
    cloud.height = 200;
    cloud.is_dense = false;

    for (std::size_t w = 0; w < cloud.width; ++w)
    {
        for (std::size_t h = 0; h < cloud.height; ++h)
        {
            pcl::PointXYZ p;
            p.x = w; p.y = h; p.z = 1;
            cloud.push_back(p);
        }
    }

    pcl::io::savePCDFileASCII("input.pcd", cloud);
    std::cout << "INFO: Saved " << cloud.size() << " data points to test_pcd.pcd." << std::endl;

    pcl::gpu::Octree::PointCloud cloud_device;
    cloud_device.upload(cloud.points);

    pcl::gpu::Octree octree_device;
    octree_device.setCloud(cloud_device);
    octree_device.build();

    // Create two query points
    std::vector<pcl::PointXYZ> query_host;
    query_host.resize(3);
    query_host[0].x = 250;
    query_host[0].y = 100;
    query_host[0].z = 1;
    query_host[1].x = 0;
    query_host[1].y = 0;
    query_host[1].z = 1;
    query_host[2].x = 500;
    query_host[2].y = 200;

    pcl::gpu::Octree::Queries queries_device;
    queries_device.upload(query_host);

    // Take two identical radiuses
    std::vector<float> radius;
    radius.push_back(10.0);
    radius.push_back(10.0);
    radius.push_back(10.0);

    pcl::gpu::Octree::Radiuses radiuses_device;
    radiuses_device.upload(radius);

    const int max_answers = 500 * 200;

    // Output buffer on the device
    pcl::gpu::NeighborIndices result_device(queries_device.size(), max_answers);

    // Do the actual search
    octree_device.radiusSearch(queries_device, radiuses_device, max_answers, result_device);

    std::vector<int> sizes, data;
    result_device.sizes.download(sizes);
    result_device.data.download(data);

    std::cout << "INFO: Data generated" << std::endl;

    std::cout << "INFO: found : " << data.size() << " data.size" << std::endl;
    std::cout << "INFO: found : " << sizes.size() << " sizes.size" << std::endl;

    for (std::size_t i = 0; i < sizes.size(); ++i)
    {
        std::cout << "INFO: sizes : " << i << " size " << sizes[i] << std::endl;
        if (sizes[i] != 0)
        {
            pcl::PointCloud<pcl::PointXYZ> cloud_result;
            // Fill in the cloud data
            cloud_result.height = 1;
            cloud_result.is_dense = false;

            for (std::size_t j = 0; j < sizes[i]; ++j)
            {
                cloud_result.push_back(cloud[data[j + i * max_answers]]);
                std::cout << "INFO: data : " << j << " " << j + i * max_answers << " data " << data[j + i * max_answers] << std::endl;
            }
            std::stringstream ss;
            ss << "cloud_cluster_" << i << ".pcd";
            cloud_result.width = cloud_result.size();
            pcl::io::savePCDFileASCII(ss.str(), cloud_result);
            std::cout << "INFO: Saved " << cloud_result.size() << " data points to " << ss.str() << std::endl;
        }
    }
    return 0;
}