【毕设笔记】PCL

安装：

尝试vcpkg安装折腾一天失败（之前尝试用vcpkg安装colmap也失败，放弃vcpkg了
参考这个博客，但是附加依赖项没搞对。然后复制了另一个博客的附加依赖项，才解决。
问题还没完，之后报了找不到.dll文件的错，将PCL文件夹里所有dll文件复制到项目文件夹，终于出结果了。

测试代码：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>


int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>(5, 1));
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);

	// Fill in the CloudIn data
	for (auto& point : *cloud_in)
	{
		point.x = 1024 * rand() / (RAND_MAX + 1.0f);
		point.y = 1024 * rand() / (RAND_MAX + 1.0f);
		point.z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	std::cout << "Saved " << cloud_in->size() << " data points to input:" << std::endl;

	for (auto& point : *cloud_in)
		std::cout << point << std::endl;

	*cloud_out = *cloud_in;

	std::cout << "size:" << cloud_out->size() << std::endl;
	for (auto& point : *cloud_out)
		point.x += 0.7f;

	std::cout << "Transformed " << cloud_in->size() << " data points:" << std::endl;

	for (auto& point : *cloud_out)
		std::cout << point << std::endl;

	pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
	icp.setInputSource(cloud_in);
	icp.setInputTarget(cloud_out);

	pcl::PointCloud<pcl::PointXYZ> Final;
	icp.align(Final);

	std::cout << "has converged:" << icp.hasConverged() << " score: " <<
		icp.getFitnessScore() << std::endl;
	std::cout << icp.getFinalTransformation() << std::endl;

	return (0);
}