[系统运维]【MacOS｜PCL】安装并测试 PCL

软硬件环境

• Macbook Pro M1
• macOS Big Sur 11.4

安装 PCL

参考链接：【PCL 官方文档】Installing on Mac OS X using Homebrew

brew update
brew install pcl # 安装 pcl

brew list pcl # 查看 pcl 安装位置
# 输出 /opt/homebrew/Cellar/pcl/1.12.0 等。

安装 QT5

• 若不安装 QT5 ，则无法测试 PCL。

brew install qt@5
# qt5 安装路径：/opt/homebrew/Cellar/qt@5/5.15.2/lib/cmake/Qt5

测试

参考链接：【官方教程】Using PCL in your own project

CMakeLists.txt

• 这里相比官方教程做了一些修改，否则无法成功编译。

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(grabDetection)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} "/opt/homebrew/Cellar/qt@5/5.15.2/lib/cmake/Qt5")

find_package(PCL 1.12 REQUIRED COMPONENTS common io)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcd_write_test pcd_write.cpp)
target_link_libraries(pcd_write_test ${PCL_LIBRARIES})

pcd_write.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main ()
{
    pcl::PointCloud<pcl::PointXYZ> cloud;

    // Fill in the cloud data
    cloud.width    = 5;
    cloud.height   = 1;
    cloud.is_dense = false;
    cloud.resize (cloud.width * cloud.height);

    for (auto& point: cloud)
    {
        point.x = 1024 * rand () / (RAND_MAX + 1.0f);
        point.y = 1024 * rand () / (RAND_MAX + 1.0f);
        point.z = 1024 * rand () / (RAND_MAX + 1.0f);
    }

    pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
    std::cerr << "Saved " << cloud.size () << " data points to test_pcd.pcd." << std::endl;

    for (const auto& point: cloud)
        std::cerr << "    " << point.x << " " << point.y << " " << point.z << std::endl;

    return (0);
}

准备

编译

cd cmake-build-debug
pcl_viewer test_pcd.pcd

效果

• 可以修改代码中的点云宽和高，调为200*100，效果如下：