ubutnu20在QT调用pcl

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分类专栏： 3D视觉学习文章标签： qt 开发语言 pcl

于 2022-03-11 15:45:51 首次发布

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本文介绍了如何在Ubuntu20上使用Qt调用Point Cloud Library（PCL）进行点云搜索操作。首先确保安装了QT和PCL，然后在.pro文件中配置了必要的INCLUDEPATH和LIBS路径，包括PCL、Eigen、VTK和Boost的头文件和库文件路径。接着，提供了一个测试代码示例，展示了如何创建点云、构建八叉树并进行体素近邻搜索、K近邻搜索和半径内近邻搜索。这些搜索方法在点云处理和分析中非常关键。

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ubutnu20在QT调用pcl

前提
安装好QT和pcl

一.pro文件参考

QT -= gui

CONFIG += c++14 console
CONFIG -= app_bundle

# The following define makes your compiler emit warnings if you use
# any Qt feature that has been marked deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS

# You can also make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0

SOURCES += \
        main.cpp

INCLUDEPATH += .\
                /usr/local/include \
                /usr/local/include/opencv4 \
                /usr/local/include/opencv4/opencv2 \
                /usr/local/include/pcl-1.12 \
                /usr/include/eigen3 \
                /usr/include/vtk-7.1 \
                /usr/include/boost

LIBS += /usr/local/lib/lib* \
        /usr/lib/x86_64-linux-gnu/libpcl_*.so \
        /usr/lib/x86_64-linux-gnu/libvtk*.so \
        /usr/lib/x86_64-linux-gnu/libboost_*.so

# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

注意几个点
1.包含路径（INCLUDEPATH）
需要增加这几个路径，由于版本可能会存在差异，建议打开对应文件夹进行对比修改

/usr/local/include/pcl-1.12 \
/usr/include/eigen3 \
/usr/include/vtk-7.1 \
/usr/include/boost

2.依赖文件（LIBS）
需要增加这几个

/usr/lib/x86_64-linux-gnu/libpcl_*.so \
/usr/lib/x86_64-linux-gnu/libvtk*.so \
/usr/lib/x86_64-linux-gnu/libboost_*.so

二.测试代码

/*
 * @Description: 点云搜索  https://pcl.readthedocs.io/projects/tutorials/en/latest/octree.html#octree-search
 * @Author: HCQ
 * @Company(School): UCAS
 * @Email: 1756260160@qq.com
 * @Date: 2020-10-13 10:54:55
 * @LastEditTime: 2020-10-27 16:01:26
 * @FilePath: /pcl-learning/03octree/2Spatial Partitioning and Search Operations with Octrees/1octree_search/octree_search.cpp
 */
#include <pcl/point_cloud.h>   //点云头文件
#include <pcl/octree/octree.h> //八叉树头文件

#include <iostream>
#include <vector>
#include <ctime>

int main(int argc, char **argv)
{
    srand((unsigned int)time(NULL)); //用系统时间初始化随机种子与 srand (time (NULL))的区别

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    // 创建点云数据
    cloud->width = 1000;
    cloud->height = 1; //无序
    cloud->points.resize(cloud->width * cloud->height);

    for (size_t i = 0; i < cloud->points.size(); ++i) //随机循环产生点云的坐标值
    {
        cloud->points[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);
    }
    /****************************************************************************
   创建一个octree实例，用设置分辨率进行初始化，该octree用它的页节点存放点索引向量，
   分辨率参数描述最低一级octree的最小体素的尺寸，因此octree的深度是分辨率和点云空间维度
   的函数，如果知道点云的边界框，应该用defineBoundingbox方法把它分配给octree然后通过
   点云指针把所有点增加到ctree中。
   *****************************************************************************/
    float resolution = 128.0f;

    pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution); //初始化Octree

    octree.setInputCloud(cloud);      //设置输入点云    这两句是最关键的建立PointCloud和octree之间的联系
    octree.addPointsFromInputCloud(); //构建octree

    pcl::PointXYZ searchPoint; //设置searchPoint

    searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f);
    searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f);
    searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f);

    /*************************************************************************************
  一旦PointCloud和octree联系一起，就能进行搜索操作，这里使用的是“体素近邻搜索”，把查询点所在体素中
   其他点的索引作为查询结果返回，结果以点索引向量的形式保存，因此搜索点和搜索结果之间的距离取决于octree的分辨率参数
*****************************************************************************************/

    std::vector<int> pointIdxVec; //存储体素近邻搜索结果向量

    if (octree.voxelSearch(searchPoint, pointIdxVec)) //执行搜索，返回结果到pointIdxVec
    {
        std::cout << "Neighbors within voxel search at (" << searchPoint.x
                  << " " << searchPoint.y
                  << " " << searchPoint.z << ")"
                  << std::endl;

        for (size_t i = 0; i < pointIdxVec.size(); ++i) //打印结果点坐标
            std::cout << "    " << cloud->points[pointIdxVec[i]].x
                      << " " << cloud->points[pointIdxVec[i]].y
                      << " " << cloud->points[pointIdxVec[i]].z << std::endl;
    }

    /**********************************************************************************
  K 被设置为10 ，K近邻搜索  方法把搜索结果写到两个分开的向量，第一个pointIdxNKNSearch包含搜索结果
   （结果点的索引的向量）  第二个向量pointNKNSquaredDistance存储搜索点与近邻之间的距离的平方。
*************************************************************************************/

    //K 近邻搜索
    int K = 10;

    std::vector<int> pointIdxNKNSearch;         //结果点的索引的向量
    std::vector<float> pointNKNSquaredDistance; //搜索点与近邻之间的距离的平方

    std::cout << "K nearest neighbor search at (" << searchPoint.x
              << " " << searchPoint.y
              << " " << searchPoint.z
              << ") with K=" << K << std::endl;

    if (octree.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
    {
        for (size_t i = 0; i < pointIdxNKNSearch.size(); ++i)
            std::cout << "    " << cloud->points[pointIdxNKNSearch[i]].x
                      << " " << cloud->points[pointIdxNKNSearch[i]].y
                      << " " << cloud->points[pointIdxNKNSearch[i]].z
                      << " (squared distance: " << pointNKNSquaredDistance[i] << ")" << std::endl;
    }

    // 半径内近邻搜索

    std::vector<int> pointIdxRadiusSearch;
    std::vector<float> pointRadiusSquaredDistance;

    float radius = 256.0f * rand() / (RAND_MAX + 1.0f);

    std::cout << "Neighbors within radius search at (" << searchPoint.x
              << " " << searchPoint.y
              << " " << searchPoint.z
              << ") with radius=" << radius << std::endl;

    if (octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)
    {
        for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)
            std::cout << "    " << cloud->points[pointIdxRadiusSearch[i]].x
                      << " " << cloud->points[pointIdxRadiusSearch[i]].y
                      << " " << cloud->points[pointIdxRadiusSearch[i]].z
                      << " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << std::endl;
    }
}