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本人初次接触PCL,求各位大神好好指导。
我看过教程后,把教程的代码放在自己电脑上运行遇到问题。- #include <iostream>
- #include <pcl/io/pcd_io.h>
- #include <pcl/point_types.h>
- #include <pcl/registration/icp.h>
- int
- main (int argc, char** argv)
- {
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in (new pcl::PointCloud<pcl::PointXYZ>);
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out (new pcl::PointCloud<pcl::PointXYZ>);
- // Fill in the CloudIn data
- cloud_in->width = 5;
- cloud_in->height = 1;
- cloud_in->is_dense = false;
- cloud_in->points.resize (cloud_in->width * cloud_in->height);
- for (size_t i = 0; i < cloud_in->points.size (); ++i)
- {
- cloud_in->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
- cloud_in->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
- cloud_in->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
- }
- std::cout << "Saved " << cloud_in->points.size () << " data points to input:"
- << std::endl;
- for (size_t i = 0; i < cloud_in->points.size (); ++i) std::cout << " " <<
- cloud_in->points[i].x << " " << cloud_in->points[i].y << " " <<
- cloud_in->points[i].z << std::endl;
- *cloud_out = *cloud_in;
- std::cout << "size:" << cloud_out->points.size() << std::endl;
- for (size_t i = 0; i < cloud_in->points.size (); ++i)
- cloud_out->points[i].x = cloud_in->points[i].x + 0.7f;
- std::cout << "Transformed " << cloud_in->points.size () << " data points:"
- << std::endl;
- for (size_t i = 0; i < cloud_out->points.size (); ++i)
- std::cout << " " << cloud_out->points[i].x << " " <<
- cloud_out->points[i].y << " " << cloud_out->points[i].z << std::endl;
- pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
- icp.setInputCloud(cloud_in);
- icp.setInputTarget(cloud_out);
- pcl::PointCloud<pcl::PointXYZ> Final;
- icp.align(Final);
- std::cout << "has converged:" << icp.hasConverged() << " score: " <<
- icp.getFitnessScore() << std::endl;
- std::cout << icp.getFinalTransformation() << std::endl;
- return (0);
- }
复制代码 以上是从官网和教程找的代码,自己拷贝运行后出现几个问题,求指点迷津
1.编译的时候速度很慢,,提示这个- <command-line>:0:15: warning: missing whitespace after the macro name [enabled by default]
复制代码 请问这个正常么?
2.编译过程提示我setInputCloud()改为setInputSource();我按照提示改了,再编译提示消失,请问里面参数是否不需要变,还是原来的点云。
3最后一个最关键的,我的代码和网站一模一样为什么只能输出- Saved 5 data points to input:
- 0.352222 -0.151883 -0.106395
- -0.397406 -0.473106 0.292602
- -0.731898 0.667105 0.441304
- -0.734766 0.854581 -0.0361733
- -0.4607 -0.277468 -0.916762
- size:5
- Transformed 5 data points:
- 1.05222 -0.151883 -0.106395
- 0.302594 -0.473106 0.292602
- -0.0318983 0.667105 0.441304
- -0.0347655 0.854581 -0.0361733
- 0.2393 -0.277468 -0.916762
- Illegal instruction (core dumped)
复制代码 最后给我个非法指令是什么意思,难道官网代码有错?求大神指导,虚心求教。。
我的系统是
Fedora 20
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