在自己的專案中使用PCL專案設定:1、建立cpp檔案,如pcd_write.cpp,檔案內容如下例:

#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);
}
2、建立txt檔案,如CMakeLists.txt,檔案內容如下例:
cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(MY_GRAND_PROJECT)
find_package(PCL 1.3 REQUIRED COMPONENTS common io)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcd_write_test pcd_write.cpp)
target_link_libraries(pcd_write_test ${PCL_LIBRARIES})
3、建立名為build的資料夾,通過終端在cpp資料夾裡輸入如下指令:
mkdir build 在build資料夾下終端中輸入:cmake .. 完成後輸入:make 生成可執行檔案,輸入:./pcd_write 可生成pcd檔案,我們可以使用pcd viewer工具來開啟pcd檔案,指令為:pcl_viewer test_pcd.pcd

小總結:在自己的專案中使用pcl還需勤加練習,熟悉基本流程後,方能大展拳腳 嘿嘿~