从PCL库开始

时间:2014-05-13 10:01:43

标签: visual-studio-2010 point-cloud-library

我是pcl库的新手,我在链接示例项目时遇到了问题。

我已将所有功能于一身的安装程序下载到vsmc2010 x64 (OpenNI库不能成功安装并在没有这个的情况下重复安装)

在Visual Studio 2010项目中:

  1. 我创建了一个新的win32控制台项目
  2. 进入物业:
    • C ++ - >常规 - >包括boost,eigen和pcl include目录
    • Linker-> General->其他库 - > pcl lib文件夹

  3. #include <iostream>
    #include <pcl/point_types.h>
    #include <pcl/filters/passthrough.h>
    
    int main (int argc, char** argv)
    {
      pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
      pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
    
      // Fill in the cloud data
      cloud->width  = 5;
      cloud->height = 1;
      cloud->points.resize (cloud->width * cloud->height);
    
      for (size_t i = 0; i < cloud->points.size (); ++i)
      {
        cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
        cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
        cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
      }
    
      std::cerr << "Cloud before filtering: " << std::endl;
      for (size_t i = 0; i < cloud->points.size (); ++i)
        std::cerr << "    " << cloud->points[i].x << " " 
                            << cloud->points[i].y << " " 
                            << cloud->points[i].z << std::endl;
    
      // Create the filtering object
      pcl::PassThrough<pcl::PointXYZ> pass;
      /*pass.setInputCloud (cloud);
      pass.setFilterFieldName ("z");
      pass.setFilterLimits (0.0, 1.0);
      //pass.setFilterLimitsNegative (true);
      pass.filter (*cloud_filtered);
    
      std::cerr << "Cloud after filtering: " << std::endl;
      for (size_t i = 0; i < cloud_filtered->points.size (); ++i)
        std::cerr << "    " << cloud_filtered->points[i].x << " " 
                            << cloud_filtered->points[i].y << " " 
                            << cloud_filtered->points[i].z << std::endl;*/
    
      return (0);
    }
    

    但我有链接器错误:

    Error   8   error LNK2019: símbolo externo "protected: void __cdecl pcl::PassThrough<struct pcl::PointXYZ>::applyFilterIndices(class std::vector<int,class std::allocator<int> > &)" (?applyFilterIndices@?$PassThrough@UPointXYZ@pcl@@@pcl@@IEAAXAEAV?$vector@HV?$allocator@H@std@@@std@@@Z) sin resolver al que se hace referencia en la función "protected: virtual void __cdecl pcl::PassThrough<struct pcl::PointXYZ>::applyFilter(class std::vector<int,class std::allocator<int> > &)" (?applyFilter@?$PassThrough@UPointXYZ@pcl@@@pcl@@MEAAXAEAV?$vector@HV?$allocator@H@std@@@std@@@Z) 
    

    任何人都可以帮助我吗?

1 个答案:

答案 0 :(得分:0)

我建议您使用CMake创建您的PCL项目。 在下面我将使用一体式安装程序链接最新PCL 1.8.0版本的指南,请注意它适用于Visual Studio 2013或2015.请务必使用此处提供的CMakeLists.txt网站如果您选择遵循本指南,我最初使用另一个给我一些链接器问题。

CMake:https://cmake.org/ PCL 1.8.0:http://unanancyowen.com/en/pcl18/

希望这有帮助!