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1、PCL学习心得范文 1.Using PCL in your own projectThis tutorialexplains howto usePCLinyourownprojects.Project settingsLet ussay theproject isplaced under/PATH/TO/MY/GRAND/PROJECT thatcontains alonely cppfile namepcd_write.cpp(copy itfrom theWriting PointCloud datato PCDfiles tutorial).#include#include#includ
2、eint main(intargc,char*argv)pcl:PointCloudcloud;/Fill in the clouddata cloud.width=5;cloud.height=1;cloud.is_dense=false;cloud.points.resize(cloud.width*cloud.height);for(size_t i=0;i (0);In thesame folder,create afile namedCMakeLists.txt thatcontains:cmake_minimum_required(VERSION2.6FATAL_ERROR)pro
3、ject(MY_GRAND_PROJECT)find_package(PCL1.3REQUIREDPONENTSmonio)include_directories($PCL_INCLUDE_DIRS)link_directories($PCL_LIBRARY_DIRS)add_definitions($PCL_DEFINITIONS)add_executable(pcd_write_testpcd_write.cpp)target_link_libraries(pcd_write_test$PCL_MON_LIBRARIES$PCL_IO_LIBRARIES)The explanationcm
4、ake_minimum_required(VERSION2.6FATAL_ERROR)This ismandatory（强制的）for cmake,and sincewe aremaking verybasic projectwe dont needfeatures fromcmake2.8or higher.project(MY_GRAND_PROJECT)This linenames your project andsets someuseful cmakevariables suchas thoseto referto thesource directory(MY_GRAND_PROJE
5、CT_SOURCE_DIR)and thedirectory fromwhich youare invokingcmake(MY_GRAND_PROJECT_BINARY_DIR).find_package(PCL1.3REQUIREDPONENTSmonio)We arerequesting tofind the PCL packageat minimumversion1.3.We alsosays thatit isREQUIRED meaningthat cmakewill failgracefully ifit cant befound.As PCLis modular（模块化的）on
6、e canrequest:?only oneponent（成分）:find_package(PCL1.3REQUIRED PONENTSio)?several:find_package(PCL1.3REQUIRED PONENTSio mon)?all existing:find_package(PCL1.3REQUIRED)include_directories($PCL_INCLUDE_DIRS)link_directories($PCL_LIBRARY_DIRS)add_definitions($PCL_DEFINITIONS)When PCLis found,several relat
7、edvariables areset:?PCL_FOUND:set to1if PCLis found,otherwise unset?PCL_INCLUDE_DIRS:set tothe pathsto PCLinstalled headersand thedependency headers?PCL_LIBRARIES:set tothe filenames of the builtand installedPCL libraries?PCL_LIBRARY_DIRS:set tothe pathsto wherePCL librariesand3rd partydependencies
8、reside?PCL_VERSION:the versionof thefound PCL?PCL_PONENTS:lists allavailable ponents?PCL_DEFINITIONS:lists theneeded preprocessordefinitions andpiler flagsTo letcmake knowabout externalheaders youinclude inyourproject,one needsto useinclude_directories()macro（宏）.In ourcase PCL_INCLUDE_DIRS,contains
9、exactlywhat weneed,thus weask cmaketo searchthe pathsit containsfor aheader potentiallyincluded.add_executable（可执行）(pcd_write_testpcd_write.cpp)Here,we tellcmake thatwe aretrying tomake anexecutable filenamed pcd_write_test fromone singlesource filepcd_write.cpp.CMake willtake careofthesuffix(.exe o
10、nWindows platformand blankon UNIX)and thepermissions.target_link_libraries(pcd_write_test$PCL_MON_LIBRARIES$PCL_IO_LIBRARIES)The executablewe arebuilding makescall toPCL functions.So far,we haveonly includedthePCLheaders sothe pilersknows about the methodswe arecalling.We needalso tomake the linker
11、knowsaboutthelibraries weare linkingagainst.As saidbefore the,PCL foundlibraries arerefered tousing PCL_LIBRARIES variable,all thatremains isto triggerthelinkoperation whichwe docalling target_link_libraries()macro.PCLConfig.cmake usesa CMakespecial featurenamed EXPORTwhich allowsfor usingothersproj
12、ects targetsas ifyou builtthem yourself.When youare usingsuch targetsthey arecalled importedtargets andacts justlike anyothertarget.Add the following linesto yourCMakeLists.txt file:cmake_minimum_required(VERSION2.8FATAL_ERROR)project(pcd_write)find_package(PCL1.2REQUIRED)include_directories($PCL_IN
13、CLUDE_DIRS)link_directories($PCL_LIBRARY_DIRS)add_definitions($PCL_DEFINITIONS)add_executable(pcd_writepcd_write.cpp)target_link_libraries(pcd_write$PCL_LIBRARIES)ply典型的PLY文件结构头部顶点列表面片列表（其他元素列表）头部是一系列以回车结尾的文本行，用来描述文件的剩余部分。 头部包含一个对每个元素类型的描述，包括元素名（如“边”），这个元素在工程里有多少，以及一个与这个元素关联的不同属性的列表。 头部还说明这个文件是二进制的或
14、者是ASCII的。 头部后面的是一个每个元素类型的元素列表，按照在头部中描述的顺序出现。 下面是一个立方体的完整ASCII描述。 相同工程的二进制版本头部的唯一不同是用词“binary_little_endian”或者“binary_big_endian”替换词“ascii”。 大括号中的注释不是文件的一部分，它们是这个例子的注解。 文件中的注释一般在“ment”开始的关键词定义行里。 ply formatascii1.0ascii/二进制，格式版本数ment madeby anonymous注释关键词说明，像其他行一样ment thisfile isa cubeelement vertex8
15、定义“vertex”（顶点）元素，在文件中有8个property float32x顶点包含浮点坐标“x”property float32yy坐标同样是一个顶点属性property float32zz也是坐标element face6在文件里有6个“face”（面片）property listuint8int32vertex_index“vertex_indices”（顶点素引）是一列整数end_header划定头部结尾000顶点列表的开始00101101010010111111040123面片列表开始4765440451415624267343740这个例子说明头部的基本组成。 头部的每个部分
16、都是以一个关键词开头以回车结尾的ASCII串。 即使是头部的开始和结尾（“ply”和“end_header”）也是以这种形式。 因为字符“ply”是文件的魔法数字，必须是文件的头四个字符。 跟在文件头部开头之后的是关键词“format”和一个特定的ASCII或者二进制的格式，接下来是一个版本号。 再下面是多边形文件中每个元素的描述，在每个元素里还有多属性的说明。 一般元素以下面的格式描述elementpropertypropertyproperty.属性罗列在“element”（元素）行后面定义，既包含属性的数据类型也包含属性在每个元素中出现的次序。 一个属性可以有三种数据类型标量，字符串和列表。 属性可能具有的标量数据类型列表如下名称类型字节数-
