配置直接利用brew install pcl進行安裝,我這裏安裝後是pcl1.9版本,此過程可能需要翻牆。
安裝完成利用brew info pcl查看安裝情況,如果出現下圖,說明安裝完成。
如果某項出現❌,可以利用brew install ***進行重新安裝。直到出現上圖爲止。
pcl實例:
這裏以CMakeLists.txt爲例:
項目目錄:
demo
|__build
|__src
| |__main.cpp
|__CMakeLists.txt
CMakeLists.txt
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(MY_GRAND_PROJECT)
find_package(PCL 1.9 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcd_test src/main.cpp)
target_link_libraries(pcd_test ${PCL_LIBRARIES})
main.cpp
// 顯示實例
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/io.h>
using namespace std;
using namespace pcl;
using namespace io;
int main()
{
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
io::loadPCDFile("pcd文件路徑", *cloud);
if (cloud==NULL)
{
cerr << "can't read file bunny.pcd" << endl;
return -1;
}
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z"); // 按照z字段進行渲染
viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 設置點雲大小
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
return 0;
}
源碼下載鏈接:https://download.csdn.net/download/OEMT_301/12147794