我正在尝试使用 PCL 示例代码（欧几里得集群提取：https ://pcl.readthedocs.io/projects/tutorials/en/latest/cluster_extraction.html#cluster-extraction ）来获取集群 PCL。
我使用BuildRoot构建代码并在 RK3568 板上运行演示，但无法执行结果。在 Ubuntu 中运行代码可以得到结果。我用gdb调试代码，调试信息如下：</p>
(gdb) bt
[2021-11-19 17:27:18] #0 0x0000007ff3aa0270 in flann::DistanceIndex<float>::operator<(flann::DistanceIndex<float> const&) const@plt () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #1 0x0000007ff3cee72c in __gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > > std::__unguarded_partition_pivot<__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__ops::_Iter_less_iter>(__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__ops::_Iter_less_iter) () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #2 0x0000007ff3d0849c in ?? () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #3 0x0000007ff3d084b0 in ?? () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #4 0x0000007ff3d08500 in ?? () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #5 0x0000007ff3d223c8 in ?? () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #6 0x0000007fee166228 in GOMP_parallel () from /lib/libgomp.so.1
[2021-11-19 17:27:18] #7 0x0000007ff3d2ca7c in int pcl::detail::radius_search<int, flann::Index<flann::L2_Simple<float> > const, flann::Matrix<float> const, std::vector<int, std::allocator<int> >, std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > >, flann::SearchParams const, true>(flann::Index<flann::L2_Simple<float> > const&, flann::Matrix<float> const&, std::vector<int, std::allocator<int> >&, std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > >&, float, flann::SearchParams const&) ()
[2021-11-19 17:27:18] from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #8 0x0000007ff3d2cef0 in pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >::radiusSearch(pcl::PointXYZ const&, double, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&, unsigned int) const () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #9 0x0000007ff3aba0ac in void pcl::extractEuclideanClusters<pcl::PointXYZ>(pcl::PointCloud<pcl::PointXYZ> const&, std::vector<int, std::allocator<int> > const&, pcl::search::Search<pcl::PointXYZ>::Ptr const&, float, std::vector<pcl::PointIndices, std::allocator<pcl::PointIndices> >&, unsigned int, unsigned int) () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #10 0x0000007ff3aba450 in pcl::EuclideanClusterExtraction<pcl::PointXYZ>::extract(std::vector<pcl::PointIndices, std::allocator<pcl::PointIndices> >&) () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:18] #11 0x0000007ff6b9242c in soa::FusionStrategyUnknownObject::GetPclCluster (this=0x7fe883ad30, trans_msg=...)
[2021-11-19 17:27:18] at /work/jason/demo/soa/od_fusion/src/strategy/strategy_unknown_object/src/fusion_strategy_unknown_object.cc:304
[2021-11-19 17:27:18] #12 0x0000007ff6b915a4 in soa::FusionStrategyUnknownObject::Process (this=0x7fe883ad30, disparity_info=..., od_boxes_info=...)
[2021-11-19 17:27:18] at /work/jason/demo/soa/od_fusion/src/strategy/strategy_unknown_object/src/fusion_strategy_unknown_object.cc:148
[2021-11-19 17:27:18] #13 0x0000007ff6b7ba0c in soa::OdFusionMgrImpl::<lambda()>::operator()(void) const (__closure=0x7fe8053130) at /work/jason/demo/soa/od_fusion/src/od_fusion_mgr.cc:282
[2021-11-19 17:27:18] #14 0x0000007ff6b7cd44 in std::_Function_handler<void(), soa::OdFusionMgrImpl::Init()::<lambda()> >::_M_invoke(const std::_Any_data &) (__functor=...)
[2021-11-19 17:27:18] at /sdk/buildroot/output/rockchip_rk3568/host/aarch64-buildroot-linux-gnu/include/c++/9.3.0/bits/std_function.h:300
[2021-11-19 17:27:18] #15 0x0000007ff5262e74 in std::function<void ()>::operator()() const () from /lib/librequest_thread.so
[2021-11-19 17:27:18] #16 0x0000007ff525a1d4 in soa::Task::Hanlder() () from /lib/librequest_thread.so
[2021-11-19 17:27:18] #17 0x0000007ff525a28c in soa::RequestThread::Routine() () from /lib/librequest_thread.so
[2021-11-19 17:27:18] #18 0x0000007ff52af8ac in void std::__invoke_impl<void, void (soa::RequestThread::*)(), soa::RequestThread*>(std::__invoke_memfun_deref, void (soa::RequestThread::*&&)(), soa::RequestThread*&&) ()
[2021-11-19 17:27:18] from /lib/librequest_thread.so
[2021-11-19 17:27:18] #19 0x0000007ff52af76c in std::__invoke_result<void (soa::RequestThread::*)(), soa::RequestThread*>::type std::__invoke<void (soa::RequestThread::*)(), soa::RequestThread*>(void (soa::RequestThread::*&&)(), soa::RequestThread*&&) () from /lib/librequest_thread.so
[2021-11-19 17:27:18] #20 0x0000007ff52af3b4 in void std::thread::_Invoker<std::tuple<void (soa::RequestThread::*)(), soa::RequestThread*> >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>) ()
[2021-11-19 17:27:18] from /lib/librequest_thread.so
[2021-11-19 17:27:18] #21 0x0000007ff52aed44 in std::thread::_Invoker<std::tuple<void (soa::RequestThread::*)(), soa::RequestThread*> >::operator()() () from /lib/librequest_thread.so
[2021-11-19 17:27:18] #22 0x0000007ff52ab0a0 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (soa::RequestThread::*)(), soa::RequestThread*> > >::_M_run() () from /lib/librequest_thread.so
[2021-11-19 17:27:18] #23 0x0000007ff42df3b0 in ?? () from /lib/libstdc++.so.6
[2021-11-19 17:27:18] #24 0x0000007ff71846d0 in start_thread () from /lib/libpthread.so.0
[2021-11-19 17:27:18] #25 0x0000007ff40a76cc in ?? () from /lib/libc.so.6
[2021-11-19 17:27:18] (gdb) s s n
[2021-11-19 17:27:28] Single stepping until exit from function _ZNK5flann13DistanceIndexIfEltERKS1_@plt,
[2021-11-19 17:27:28] which has no line number information.
[2021-11-19 17:27:28] 0x0000007ff3cee658 in flann::DistanceIndex<float>::operator<(flann::DistanceIndex<float> const&) const () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:28] (gdb) n
[2021-11-19 17:27:33] Single stepping until exit from function _ZNK5flann13DistanceIndexIfEltERKS1_,
[2021-11-19 17:27:33] which has no line number information.
[2021-11-19 17:27:33] 0x0000007ff3cee72c in __gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > > std::__unguarded_partition_pivot<__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__ops::_Iter_less_iter>(__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__ops::_Iter_less_iter) () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:27:33] (gdb) n
[2021-11-19 17:27:34] Single stepping until exit from function _ZSt27__unguarded_partition_pivotIN9__gnu_cxx17__normal_iteratorIPN5flann13DistanceIndexIfEESt6vectorIS4_SaIS4_EEEENS0_5__ops15_Iter_less_iterEET_SC_SC_T0_,
[2021-11-19 17:27:34] which has no line number information.
[2021-11-19 17:27:34] n 0x0000007ff3d0849c in ?? () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:28:12] (gdb) c
[2021-11-19 17:28:21] Continuing.
[2021-11-19 17:28:21] ^C
[2021-11-19 17:28:23] Thread 21 "carto_mock" received signal SIGINT, Interrupt.
[2021-11-19 17:28:23] 0x0000007ff3ceef94 in void std::__adjust_heap<__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, long, flann::DistanceIndex<float>, __gnu_cxx::__ops::_Iter_less_iter>(__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, long, long, flann::DistanceIndex<float>, __gnu_cxx::__ops::_Iter_less_iter) () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:28:23] (gdb) n
[2021-11-19 17:28:24] Single stepping until exit from function _ZSt13__adjust_heapIN9__gnu_cxx17__normal_iteratorIPN5flann13DistanceIndexIfEESt6vectorIS4_SaIS4_EEEElS4_NS0_5__ops15_Iter_less_iterEEvT_T0_SD_T1_T2_,
[2021-11-19 17:28:24] which has no line number information.
[2021-11-19 17:28:24] 0x0000007ff3d08484 in ?? () from /lib/libpcl_segmentation.so.1.12
[2021-11-19 17:28:24] (gdb) n
[2021-11-19 17:28:25] Cannot find bounds of current function
[2021-11-19 17:28:25] (gdb) n
[2021-11-19 17:28:27] Cannot find bounds of current function
[2021-11-19 17:28:27] (gdb) n
[2021-11-19 17:29:29] Cannot find bounds of current function
[2021-11-19 17:29:29] (gdb) c
[2021-11-19 17:29:30] Continuing.
[2021-11-19 17:29:30] ^C
[2021-11-19 17:29:32] Thread 21 "carto_mock" received signal SIGINT, Interrupt.
[2021-11-19 17:29:32] 0x0000007ff3cee748 in __gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > > std::__unguarded_partition_pivot<__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__ops::_Iter_less_iter>(__gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__normal_iterator<flann::DistanceIndex<float>*, std::vector<flann::DistanceIndex<float>, std::allocator<flann::DistanceIndex<float> > > >, __gnu_cxx::__ops::_Iter_less_iter) () from /lib/libpcl_segmentation.so.1.12
[
代码
int FusionStrategyUnknownObject::GetPclCluster(TransMsg& trans_msg)
{
//Create the filtering object: downsample the dataset using a leaf size of 1cm
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_point (new pcl::PointCloud<pcl::PointXYZ>),cloud_filter (new pcl::PointCloud<pcl::PointXYZ>);
cloud_point = cloud_;
// Create the segmentation object for the planar model and set all the parameters
pcl::SACSegmentation<pcl::PointXYZ> seg;
pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane (new pcl::PointCloud<pcl::PointXYZ> ());
// Optional
seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (100);
seg.setDistanceThreshold (0.01);
int i=0, nr_points = (int) cloud_point->size ();
// While 30% of the original cloud is still there
int tmp_points = 0.3 * nr_points;
while (cloud_point->size () > tmp_points)
{
// Segment the largest planar component from the remaining cloud
seg.setInputCloud (cloud_point);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
{
spdlog::info("[od_fusion] Could not estimate a planar model for the given dataset.");
break;
}
// Extract the planar inliers from the input cloud
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud (cloud_point);
extract.setIndices (inliers);
extract.setNegative (false);
// Get the points associated with the planar surface
extract.filter (*cloud_plane);
// Remove the planar inliers, extract the rest
extract.setNegative (true);
extract.filter (*cloud_filter);
*cloud_point = *cloud_filter;
}
//Creating the KdTree object for the search method of the extraction
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
tree->setInputCloud (cloud_point);
std::vector<pcl::PointIndices> cluster_indices;
pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
ec.setClusterTolerance (pcl_clustre_tolerance_);
ec.setMinClusterSize (pcl_min_cluster_size_);
ec.setMaxClusterSize (pcl_max_cluster_size_);
ec.setSearchMethod (tree);
ec.setInputCloud (cloud_point);
ec.extract (cluster_indices);
int cluster_size = cluster_indices.size();
float min_x[cluster_size]={0.0};
float max_x[cluster_size]={0.0};
float min_z[cluster_size]={0.0};
int j = 0;
for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster (new pcl::PointCloud<pcl::PointXYZ>);
for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); ++pit)
{
cloud_cluster->push_back ((*cloud_point)[*pit]); //*
}
cloud_cluster->width = cloud_cluster->size ();
spdlog::info("[od_fusion] --------------------cluster size : {0}", cloud_cluster->width);
cloud_cluster->height = 1;
cloud_cluster->is_dense = true;
min_x[j] = cloud_cluster->points[0].x;
max_x[j] = cloud_cluster->points[0].x;
std::vector<float> cluster_depth;
for(int i=1;i<cloud_cluster->size();i++)
{
if(min_x[j]>cloud_cluster->points[i].x)
{
min_x[j] = cloud_cluster->points[i].x;
}
if(max_x[j]<cloud_cluster->points[i].x)
{
max_x[j] = cloud_cluster->points[i].x;
}
cluster_depth.push_back(cloud_cluster->points[i].z);
}
GetMaxPercentDepth(cluster_depth, min_z[j]);
float middle_x = min_x[j]+(max_x[j]-min_x[j])/2;
struct bbox_xy_label object2;
object2.bboxes.push_back(8); //unknown object
object2.bboxes.push_back(min_x[j]);
object2.bboxes.push_back(min_z[j]);
object2.bboxes.push_back(middle_x);
object2.bboxes.push_back(min_z[j]);
object2.bboxes.push_back(max_x[j]);
object2.bboxes.push_back(min_z[j]);
trans_msg.bboxes_vector.push_back(object2);
j++;
}
}
CMakeLists
find_package (PCL 1.12 REQUIRED)
include_directories(
....
${PCL_INCLUDE_DIRS}
)
add_library(od_fusion SHARED
...
src/strategy/strategy_dumper/src/fusion_strategy_dumper.cc
...
)
set(PCL_DIR /sdk/buildroot/output/rockchip_rk3568/host/aarch64-buildroot-linux-gnu/sysroot/lib)
link_directories(${PCL_LIBRARY_DIRS})
set(PCL_LIB
${PROJECT_SOURCE_DIR}/../3rdparty/flann/lib/libflann_cpp.so.1.9.1
# ${PCL_LIB_DIR}/libpcl_segmentation.so
${PCL_LIBRARIES}
)