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在 pcd_register.cpp

我有代码，

#include <ros/ros.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <terminal_tools/print.h>
#include <terminal_tools/parse.h>
#include <terminal_tools/time.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/gicp.h>
#include <pcl/registration/transforms.h>

#include <pcl/filters/voxel_grid.h> // TEMP: currently used instead of octomap

#include "pcl/registration/types.h"

using namespace pcl::registration;

int main (int argc, char** argv) {

  ros::init (argc, argv, "pcd_register");
  ros::Time::init();

  terminal_tools::TicToc tictoc;

  // Downsampling
  bool downsampling_enabled = true;
  double downsampling_leaf_size = 0.001;
  terminal_tools::parse_argument(argc, argv, "-d", downsampling_enabled);
  terminal_tools::parse_argument(argc, argv, "-D", downsampling_leaf_size);

  // read point clouds
  vector<PointCloud> data;
  std::string extension (".pcd");
  for (int i = 1; i < argc; i++)
  {
    string fname = string (argv[i]);
    if (fname.size () <= extension.size ())
      continue;
    transform (fname.begin (), fname.end (), fname.begin (), (int(*)(int))tolower);
    if (fname.compare (fname.size () - extension.size (), extension.size (), extension) == 0)
    {
      PointCloud cloud;
      pcl::io::loadPCDFile (argv[i], cloud);
      if (cloud.points.size() == 0) continue;
      data.push_back(cloud);
      terminal_tools::print_highlight("Read point cloud from "); terminal_tools::print_value("%s", argv[i]); terminal_tools::print_info(" containing "); terminal_tools::print_value("%d", cloud.points.size()); terminal_tools::print_info(" points.\n");
    }
  }

  if (data.empty ())
  {
    ROS_ERROR ("Syntax is: %s <source.pcd> <target.pcd> [*]", argv[0]);
    ROS_ERROR ("[*] - multiple files can be added. The registration results of (i, i+1) will be registered against (i+2), etc");
    ROS_INFO ("Example: %s `rospack find pcl`/test/bun0.pcd `rospack find pcl`/test/bun4.pcd", argv[0]);
    return (-1);
  }
  terminal_tools::print_highlight(" Loaded "); terminal_tools::print_value("%d ", (int)data.size ()); terminal_tools::print_info("datasets.\n");

  pcl::GeneralizedIterativeClosestPoint<pcl::registration::Point, pcl::registration::Point> reg;
  PointCloud cloud_input, cloud_output, cloud_model;

  char filename[255];
  unsigned int number_clouds_processed = 0;
  for (unsigned int i = 0; i < data.size(); ++i) {

    // some filtering or whatever here ...
    if (downsampling_enabled) {
      pcl::VoxelGrid<Point> sor;
      sor.setInputCloud(boost::make_shared<PointCloud>(data[i]));
      sor.setLeafSize(downsampling_leaf_size, downsampling_leaf_size, downsampling_leaf_size);
      sor.filter(cloud_input);
    }
    else
      cloud_input = data[i];

    // write input files
    sprintf(filename, "registration_input_%04d.pcd", number_clouds_processed);
    pcl::io::savePCDFileBinary(filename, cloud_input);

    ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
    if (number_clouds_processed == 0) { // no registration needed
      cloud_output = cloud_input;
      cloud_model = cloud_input;
      terminal_tools::print_highlight("Adding first scan to model.\n");
      // TODO: simply use first point cloud to update/initialize world mode, get cloud_model for next registration from world model
    }
    else {
      //terminal_tools::print_highlight("Registering scan %04d (%d points) against model (%d points)", number_clouds_processed, cloud_input.points.size(), cloud_model.size());
      terminal_tools::print_highlight("Registering scan "); terminal_tools::print_value("%04d ", number_clouds_processed); 
      terminal_tools::print_info("("); terminal_tools::print_value("%d", cloud_input.points.size()); terminal_tools::print_info(" points) against model ("); terminal_tools::print_value("%d ", cloud_model.size()); terminal_tools::print_info("points)"); 
      tictoc.tic();

      reg.setInputCloud(boost::make_shared<const PointCloud>(cloud_input));
      reg.setInputTarget(boost::make_shared<const PointCloud>(cloud_model));

      reg.setMaximumIterations(2);  // only one iteration, gicp implementation has inner iterations in optimization
      reg.align(cloud_output);      // cloud_output = registered point cloud

      terminal_tools::print_info("[done, "); terminal_tools::print_value("%g", tictoc.toc()); terminal_tools::print_info("s]\n"); 

      // setting up new model
      //cloud_model_normals += cloud_output; // TEMP
      double model_subsampling_leaf_size = downsampling_leaf_size; // TEMP
      PointCloud cloud_temp; // TEMP
      cloud_model += cloud_output; // TEMP
      pcl::VoxelGrid<Point> grid; // TEMP
      grid.setInputCloud(boost::make_shared<PointCloud>(cloud_model)); // TEMP
      grid.setLeafSize(model_subsampling_leaf_size, model_subsampling_leaf_size, model_subsampling_leaf_size); // TEMP
      grid.filter(cloud_temp); // TEMP
      cloud_model = cloud_temp; // TEMP
      // TODO: use cloud_output to udpate world model, get cloud_model from world model
    }
    ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////


    // write output files
    sprintf(filename, "registration_output_%04d.pcd", number_clouds_processed);
    pcl::io::savePCDFileBinary(filename, cloud_output);

    ++number_clouds_processed;
  }

  pcl::io::savePCDFileBinary("registration_final_model.pcd", cloud_model);

  return 0;
}

但是当我编译它不知道所有的 terminal_tools 头文件。但我已经下载了ROS。

我是否必须在 CMakeLists.txt 上指定或其他内容？这是我的cmake

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(pcd_register)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (pcd_register pcd_register.cpp)
target_link_libraries (pcd_register ${PCL_LIBRARIES})
4

1 回答 1

1

我有一个使用 PCL 库运行类似节点的 ROS，并且您的 CMakeLists.txt 在 PCL 方面看起来不错。如果 cmake 没有找到终端工具标头，那是因为您没有指定在 cmake 中添加这些包含目录。一般来说，如果您知道如何使用 g++ myprogram.cpp -I${INCLUDE_DIRS} -L${LIB_DIRS} -l${LIBS} 进行编译，则需要在 CMakeLists 中添加以下行：

包含目录（${INCLUDE_DIRS}）

链接目录（${LIB_DIRS}）

目标链接库（pcd_register ${LIBS}）。

在您的情况下，您需要使用 include_directories 行指定 terminal_tools 的包含目录。

于 2013-04-24T02:11:07.737 回答