为什么我在使用相同的CMakeLists文件运行点云库（PCL）教程中的“将修剪的B样条拟合到无序点云”时，会收到以下错误？
PCL : 1.7.1(compiled from source at /usr/local/include/pcl-1.7.1/pcl/)
OS : Ubuntu 12.04
CMakeFiles/bspline_fitting.dir/Bspline.cpp.o: In function `main': Bspline.cpp:(.text+0x282):` undefined reference to `PointCloud2Vector3d(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>` >, std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >&)'
Bspline.cpp:(.text+0xb41): undefined reference to `visualizeCurve(ON_NurbsCurve&, ON_NurbsSurface&, pcl::visualization::PCLVisualizer&)'
collect2: ld returned 1 exit status
make[2]: *** [bspline_fitting] Error 1
make[1]: *** [CMakeFiles/bspline_fitting.dir/all] Error 2
make: *** [all] Error 2
答案 0 :(得分：1)
作为临时解决方案，请尝试使用以下代码：
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
#include <pcl/surface/on_nurbs/fitting_curve_2d_asdm.h>
#include <pcl/surface/on_nurbs/triangulation.h>
typedef pcl::PointXYZ Point;
void
PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data);
void
visualizeCurve (ON_NurbsCurve &curve,
ON_NurbsSurface &surface,
pcl::visualization::PCLVisualizer &viewer);
int
main (int argc, char *argv[])
{
std::string pcd_file, file_3dm;
if (argc < 3)
{
printf ("\nUsage: pcl_example_nurbs_fitting_surface pcd<PointXYZ>-in-file 3dm-out-file\n\n");
exit (0);
}
pcd_file = argv[1];
file_3dm = argv[2];
pcl::visualization::PCLVisualizer viewer ("B-spline surface fitting");
viewer.setSize (800, 600);
// ############################################################################
// load point cloud
printf (" loading %s\n", pcd_file.c_str ());
pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);
pcl::PCLPointCloud2 cloud2;
pcl::on_nurbs::NurbsDataSurface data;
if (pcl::io::loadPCDFile (pcd_file, cloud2) == -1)
throw std::runtime_error (" PCD file not found.");
fromPCLPointCloud2 (cloud2, *cloud);
PointCloud2Vector3d (cloud, data.interior);
pcl::visualization::PointCloudColorHandlerCustom<Point> handler (cloud, 0, 255, 0);
viewer.addPointCloud<Point> (cloud, handler, "cloud_cylinder");
printf (" %zu points in data set\n", cloud->size ());
// ############################################################################
// fit B-spline surface
// parameters
unsigned order (3);
unsigned refinement (5);
unsigned iterations (10);
unsigned mesh_resolution (256);
pcl::on_nurbs::FittingSurface::Parameter params;
params.interior_smoothness = 0.2;
params.interior_weight = 1.0;
params.boundary_smoothness = 0.2;
params.boundary_weight = 0.0;
// initialize
printf (" surface fitting ...\n");
ON_NurbsSurface nurbs = pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox (order, &data);
pcl::on_nurbs::FittingSurface fit (&data, nurbs);
// fit.setQuiet (false); // enable/disable debug output
// mesh for visualization
pcl::PolygonMesh mesh;
pcl::PointCloud<pcl::PointXYZ>::Ptr mesh_cloud (new pcl::PointCloud<pcl::PointXYZ>);
std::vector<pcl::Vertices> mesh_vertices;
std::string mesh_id = "mesh_nurbs";
pcl::on_nurbs::Triangulation::convertSurface2PolygonMesh (fit.m_nurbs, mesh, mesh_resolution);
viewer.addPolygonMesh (mesh, mesh_id);
// surface refinement
for (unsigned i = 0; i < refinement; i++)
{
fit.refine (0);
fit.refine (1);
fit.assemble (params);
fit.solve ();
pcl::on_nurbs::Triangulation::convertSurface2Vertices (fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
viewer.updatePolygonMesh<pcl::PointXYZ> (mesh_cloud, mesh_vertices, mesh_id);
viewer.spinOnce ();
}
// surface fitting with final refinement level
for (unsigned i = 0; i < iterations; i++)
{
fit.assemble (params);
fit.solve ();
pcl::on_nurbs::Triangulation::convertSurface2Vertices (fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
viewer.updatePolygonMesh<pcl::PointXYZ> (mesh_cloud, mesh_vertices, mesh_id);
viewer.spinOnce ();
}
// ############################################################################
// fit B-spline curve
// parameters
pcl::on_nurbs::FittingCurve2dAPDM::FitParameter curve_params;
curve_params.addCPsAccuracy = 5e-2;
curve_params.addCPsIteration = 3;
curve_params.maxCPs = 200;
curve_params.accuracy = 1e-3;
curve_params.iterations = 100;
curve_params.param.closest_point_resolution = 0;
curve_params.param.closest_point_weight = 1.0;
curve_params.param.closest_point_sigma2 = 0.1;
curve_params.param.interior_sigma2 = 0.00001;
curve_params.param.smooth_concavity = 1.0;
curve_params.param.smoothness = 1.0;
// initialisation (circular)
printf (" curve fitting ...\n");
pcl::on_nurbs::NurbsDataCurve2d curve_data;
curve_data.interior = data.interior_param;
curve_data.interior_weight_function.push_back (true);
ON_NurbsCurve curve_nurbs = pcl::on_nurbs::FittingCurve2dAPDM::initNurbsCurve2D (order, curve_data.interior);
// curve fitting
pcl::on_nurbs::FittingCurve2dASDM curve_fit (&curve_data, curve_nurbs);
// curve_fit.setQuiet (false); // enable/disable debug output
curve_fit.fitting (curve_params);
visualizeCurve (curve_fit.m_nurbs, fit.m_nurbs, viewer);
// ############################################################################
// triangulation of trimmed surface
printf (" triangulate trimmed surface ...\n");
viewer.removePolygonMesh (mesh_id);
pcl::on_nurbs::Triangulation::convertTrimmedSurface2PolygonMesh (fit.m_nurbs, curve_fit.m_nurbs, mesh,
mesh_resolution);
viewer.addPolygonMesh (mesh, mesh_id);
// save trimmed B-spline surface
//if ( fit.m_nurbs.IsValid() )
//{
// ONX_Model model;
// ONX_Model_Object& surf = model.m_object_table.AppendNew();
// surf.m_object = new ON_NurbsSurface(fit.m_nurbs);
// surf.m_bDeleteObject = true;
// surf.m_attributes.m_layer_index = 1;
// surf.m_attributes.m_name = "surface";
// ONX_Model_Object& curv = model.m_object_table.AppendNew();
// curv.m_object = new ON_NurbsCurve(curve_fit.m_nurbs);
// curv.m_bDeleteObject = true;
// curv.m_attributes.m_layer_index = 2;
// curv.m_attributes.m_name = "trimming curve";
// model.Write(file_3dm.c_str());
// printf(" model saved: %s\n", file_3dm.c_str());
//}
printf (" ... done.\n");
viewer.spin ();
return 0;
}
void
PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
{
for (unsigned i = 0; i < cloud->size (); i++)
{
Point &p = cloud->at (i);
if (!pcl_isnan (p.x) && !pcl_isnan (p.y) && !pcl_isnan (p.z))
data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
}
}
void
visualizeCurve (ON_NurbsCurve &curve, ON_NurbsSurface &surface, pcl::visualization::PCLVisualizer &viewer)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::on_nurbs::Triangulation::convertCurve2PointCloud (curve, surface, curve_cloud, 4);
for (std::size_t i = 0; i < curve_cloud->size () - 1; i++)
{
pcl::PointXYZRGB &p1 = curve_cloud->at (i);
pcl::PointXYZRGB &p2 = curve_cloud->at (i + 1);
std::ostringstream os;
os << "line" << i;
viewer.removeShape (os.str ());
viewer.addLine<pcl::PointXYZRGB> (p1, p2, 1.0, 0.0, 0.0, os.str ());
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cps (new pcl::PointCloud<pcl::PointXYZRGB>);
for (int i = 0; i < curve.CVCount (); i++)
{
ON_3dPoint p1;
curve.GetCV (i, p1);
double pnt[3];
surface.Evaluate (p1.x, p1.y, 0, 3, pnt);
pcl::PointXYZRGB p2;
p2.x = float (pnt[0]);
p2.y = float (pnt[1]);
p2.z = float (pnt[2]);
p2.r = 255;
p2.g = 0;
p2.b = 0;
curve_cps->push_back (p2);
}
viewer.removePointCloud ("cloud_cps");
viewer.addPointCloud (curve_cps, "cloud_cps");
}
答案 1 :(得分：0)
我收到完全相同的错误。
bspline_fitting.obj：错误LNK2019：未解析的外部符号“void __cdecl visualizeCurve（类ON_NurbsCurve＆amp;，类ON_NurbsSurface＆amp;，类pcl :: visualization :: PCLVisualizer＆amp;）”（？visualizeCurve @@ YAXAAVON_NurbsCurve @@ AAVON_NurbsSurface @ @AAVPCLVisualizer @ visualization @ pcl @@@ Z）在函数_main
中引用2＆gt; bspline_fitting.obj：错误LNK2019：未解析的外部符号“void __cdecl PointCloud2Vector3d（类boost :: shared_ptr＆gt;，类std :: vector，类Eigen :: aligned_allocator＆gt;＆amp;＆amp;）”（？PointCloud2Vector3d @@ YAXV？$ @的shared_ptr V'$ @点云@ UPointXYZ PCL @@@ PCL @@@升压@@ AAV？$ @矢量V'$基质@ N $ 02 $ $ 00 0A @ $ 02 $ 00 @艾根@@ V'$ align_allocator @ V？$ Matrix @ N $ 02 $ 00 $ 0A @ $ 02 $ 00 @ Eigen @@@ 2 @@ std @@@ Z）在函数_main中引用
我在MS visual studio 10的Windows 7上运行它