测试代码pcl_test.cpp如下：
#include <iostream> #include <pcl/common/common_headers.h> #include <pcl/io/pcd_io.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/visualization/cloud_viewer.h> #include <pcl/console/parse.h> int main(int argc, char **argv) { std::cout << "Test PCL !!!" << std::endl; pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>); uint8_t r(255), g(15), b(15); for (float z(-1.0); z <= 1.0; z += 0.05) { for (float angle(0.0); angle <= 360.0; angle += 5.0) { pcl::PointXYZRGB point; point.x = 0.5 * cosf (pcl::deg2rad(angle)); point.y = sinf (pcl::deg2rad(angle)); point.z = z; uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b)); point.rgb = *reinterpret_cast<float*>(&rgb); point_cloud_ptr->points.push_back (point); } if (z < 0.0) { r -= 12; g += 12; } else { g -= 12; b += 12; } } point_cloud_ptr->width = (int) point_cloud_ptr->points.size (); point_cloud_ptr->height = 1; pcl::visualization::CloudViewer viewer ("test"); viewer.showCloud(point_cloud_ptr); while (!viewer.wasStopped()){ }; return 0; } CMakeLists.txt文件 cmake_minimum_required(VERSION 2.6) project(pcl_test) find_package(PCL 1.2 REQUIRED) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable(pcl_test pcl_test.cpp) target_link_libraries (pcl_test ${PCL_LIBRARIES}) install(TARGETS pcl_test RUNTIME DESTINATION bin)把pcl_test.cpp和CMakeLists.txt发在同一个文件夹后
执行如下命令
cmake . make ./pcl_test就可以看到一个漂亮的3D模型
