【C++】PCL库入门学习

学习链接

#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>

using namespace pcl;

int main(int argc, char **argv) {
    std::cout << "Test PCL !!!" << std::endl;

    PointCloud<PointXYZRGB>::Ptr point_cloud_ptr (new PointCloud<PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
        for (float angle(0.0); angle <= 360.0; angle += 5.0)
        {
            PointXYZRGB point;
            point.x = 0.5 * cosf (deg2rad(angle));
            point.y = sinf (deg2rad(angle));
            point.z = z;
            uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
                            static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
            point.rgb = *reinterpret_cast<float*>(&rgb);
            point_cloud_ptr->points.push_back (point);
        }
        if (z < 0.0)
        {
            r -= 12;
            g += 12;
        }
        else
        {
            g -= 12;
            b += 12;
        }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;

    visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.17)
project(pcl_test)
find_package(PCL 1.8 REQUIRED)
set(PCL_INCLUDE_DIRS /usr/include/pcl-1.8)

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

add_executable(pcl_test main.cpp)

target_link_libraries (pcl_test ${PCL_LIBRARIES})