c++ 调用opencv或pcl流程

以下是一个基于C++和OpenCV调用PCL（Point Cloud Library）的教程，主要介绍如何在Ubuntu环境下配置和使用PCL与OpenCV：

环境准备

1. 安装依赖库：
   在Ubuntu系统中，运行以下命令安装必要的依赖库：

   sudo apt-get install build-essential
   sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
   sudo apt-get install python-dev python-numpy python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev
   sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
   sudo apt update
   sudo apt install libjasper1 libjasper-dev
   

2. 安装OpenCV：

   • 下载OpenCV和OpenCV_contrib源码：

     wget https://github.com/opencv/opencv/archive/4.5.3.zip -O opencv-4.5.3.zip
     wget https://github.com/opencv/opencv_contrib/archive/4.5.3.zip -O opencv_contrib-4.5.3.zip
     unzip opencv-4.5.3.zip
     unzip opencv_contrib-4.5.3.zip
     mv opencv_contrib-4.5.3 opencv-4.5.3/opencv_contrib
     

   • 编译OpenCV：

     cd opencv-4.5.3
     mkdir build && cd build
     sudo cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local/opencv4 \-D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules/ -D OPENCV_GENERATE_PKGCONFIG=YES -D OPENCV_ENABLE_NONFREE=True ..
     sudo make -j$(nproc)
     sudo make install
     

3. 安装PCL：

   • 使用系统包管理器安装PCL：

     sudo apt-get install libpcl-dev
     

配置项目

1. 创建项目目录结构：
   创建一个C++项目目录，例如：

   cpp_project
   ├── .vscode
   │   ├── c_cpp_properties.json
   │   ├── launch.json
   │   └── tasks.json
   ├── build
   ├── CMakeLists.txt
   ├── include
   │   ├── func_common.h
   │   ├── func_opencv.h
   │   └── func_pcl.h
   └── src├── func_common.cpp├── func_opencv.cpp├── func_pcl.cpp└── main.cpp
   

2. 配置CMakeLists.txt：
   编写CMakeLists.txt文件以配置项目：

   cmake_minimum_required(VERSION 2.8)
   project(MyProject)# 添加PCL库
   find_package(PCL 1.8 REQUIRED)
   include_directories(${PCL_INCLUDE_DIRS})
   link_directories(${PCL_LIBRARY_DIRS})
   add_definitions(${PCL_DEFINITIONS})# 添加OpenCV库
   set(OpenCV_DIR "/usr/local/opencv4")
   find_package(OpenCV REQUIRED)
   include_directories(${OpenCV_INCLUDE_DIRS})
   link_directories(${OpenCV_LIB_DIR})# 添加源文件
   aux_source_directory(src DIR_SRCS)
   add_executable(MyProject ${DIR_SRCS})# 链接库
   target_link_libraries(MyProject ${PCL_LIBRARIES} ${OpenCV_LIBS})
   

3. 编写代码：
   在main.cpp中编写代码，结合OpenCV和PCL的功能。例如：

   #include <opencv2/opencv.hpp>
   #include <pcl/point_cloud.h>
   #include <pcl/point_types.h>
   #include <pcl/io/pcd_io.h>int main() {// 使用OpenCV读取图像cv::Mat image = cv::imread("test.jpg");cv::imshow("Image", image);cv::waitKey(0);// 创建PCL点云pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);cloud->width = 5;cloud->height = 1;cloud->is_dense = false;cloud->points.resize(cloud->width * cloud->height);for (size_t i = 0; i < cloud->points.size(); ++i) {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);}// 保存点云pcl::io::savePCDFileASCII("test.pcd", *cloud);std::cout << "Saved point cloud to test.pcd" << std::endl;return 0;
   }
   

4. 编译和运行：
   在项目根目录下运行以下命令：

   cd build
   cmake ..
   make
   ./MyProject
   

注意事项

• 确保OpenCV和PCL的路径正确配置在CMakeLists.txt中。
• 如果使用VSCode开发，需要在.vscode/c_cpp_properties.json中添加OpenCV和PCL的头文件路径。

通过以上步骤，你可以在C++中结合使用OpenCV和PCL，实现图像处理和点云处理的功能。