Win10下使用Cmake编译PCL工程文件测试

柔情只为你懂 2023-01-21 15:30 279阅读 0赞

> **工作环境：Windows 10 + Cmake 3.19.2 + VS2017 + PCL1.8.1**

[PCL1.8.1下载链接 ][PCL1.8.1_]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70][]

> 注意：**建议将pcl和附带安装的openni安装在默认路径**，即C盘中，笔者改变了安装路径，导致后续Cmake编译时找不到相关文件路径，增添了不少麻烦
> 
>  **如果需要安装到非C盘，则后面Cmake配置时需要自行设置各个第三方库的头文件和链接库路径，因为PCL中的CMake相关搜索路径默认只会在C盘中搜索相关的库。**

将pcl安装好之后，解压pcl-1.8.1-pdb-msvc2017-win64.zip文件，将里面的内容复制到pcl安装文件夹中的bin文件夹：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 1][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 2][]

# 建立测试工程，测试pcl环境是否搭建好 #

参考：[官方教程案例][Link 1]\-将点云写入PCD文件

新建两个文件夹：一个放源代码文件，一个放编译后的文件

![20210517110315219.png][]

在source文件夹中，新建一个pcd\_write.cpp以及CMakeLists.txt文件，代码内容暂不做解析，只是简单示范：

![2021051711074320.png][]

pcd\_write.cpp：

#include <iostream>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    
    int
      main (int argc, char** argv)
    {
      pcl::PointCloud<pcl::PointXYZ> cloud;
    
      // Fill in the cloud data
      cloud.width    = 5;
      cloud.height   = 1;
      cloud.is_dense = false;
      cloud.points.resize (cloud.width * cloud.height);
    
      for (auto& point: cloud)
      {
        point.x = 1024 * rand () / (RAND_MAX + 1.0f);
        point.y = 1024 * rand () / (RAND_MAX + 1.0f);
        point.z = 1024 * rand () / (RAND_MAX + 1.0f);
      }
    
      pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
      std::cerr << "Saved " << cloud.size () << " data points to test_pcd.pcd." << std::endl;
    
      for (const auto& point: cloud)
        std::cerr << "    " << point.x << " " << point.y << " " << point.z << std::endl;
    
      return (0);
    }

CMakeLists.txt：

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
    
    project(pcd_write)
    
    find_package(PCL 1.2 REQUIRED)
    
    include_directories(${PCL_INCLUDE_DIRS})
    link_directories(${PCL_LIBRARY_DIRS})
    add_definitions(${PCL_DEFINITIONS})
    
    add_executable (pcd_write pcd_write.cpp)
    target_link_libraries (pcd_write ${PCL_LIBRARIES})

打开CMake，开始编译：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 3][]

编译完成后，在输出文件夹中可见：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 4][]

然后打开VS2017，打开此工程文件，编译链接，在Debug文件夹中，生成了.exe文件：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 5][]

**使用cmd.exe打开此exe文件：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 6][]

最后也生成了PCD文件：

![20210517111404140.png][]

pcl测试工程运行顺利，说明PCL开发环境搭建完成。

[PCL1.8.1_]: https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1
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[Link 1]: https://pcl.readthedocs.io/projects/tutorials/en/latest/writing_pcd.html#writing-pcd
[20210517110315219.png]: /images/20221020/3f00f121d8b24325ae31371eb8473fdc.png
[2021051711074320.png]: /images/20221020/2ca4728fc4fa46df9098314cb11d00f8.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 3]: /images/20221020/0db82b8058da41bf9fb72502fae6e570.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70 4]: /images/20221020/a425368b740b4ff6b32979adced548d0.png
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[20210517111404140.png]: /images/20221020/0594e9f7bf1c429bac94a5c906134fce.png