Q&A
PCLを用いて、点群の中から平面を抽出することを行いたいです。
PCLのチュートリアルの中に"Extracting indices from a PointCloud(http://vml.sakura.ne.jp/koeda/PCL/tutorials/html/extract_indices.html)"というものがあり、このコードを実行しようとcmakeを用いてビルドしたところ、以下のようなエラーが発生しました。
チュートリアルに記載されているコードをそのままコピペしてビルドしたので、おそらくライブラリ関係でのエラーかと思うのですが、原因がわかりません。どなたか解決策を教えていただけませんでしょうか。
extract_indices.cpp
C++
1#include <iostream> 2#include <pcl/ModelCoefficients.h> 3#include <pcl/io/pcd_io.h> 4#include <pcl/point_types.h> 5#include <pcl/sample_consensus/method_types.h> 6#include <pcl/sample_consensus/model_types.h> 7#include <pcl/segmentation/sac_segmentation.h> 8#include <pcl/filters/voxel_grid.h> 9#include <pcl/filters/extract_indices.h> 10 11int 12main (int argc, char** argv) 13{ 14 sensor_msgs::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2), cloud_filtered_blob (new sensor_msgs::PointCloud2); 15 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>), cloud_p (new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>); 16 17 // Fill in the cloud data 18 pcl::PCDReader reader; 19 reader.read ("table_scene_lms400.pcd", *cloud_blob); 20 21 std::cerr << "PointCloud before filtering: " << cloud_blob->width * cloud_blob->height << " data points." << std::endl; 22 23 // Create the filtering object: downsample the dataset using a leaf size of 1cm 24 pcl::VoxelGrid<sensor_msgs::PointCloud2> sor; 25 sor.setInputCloud (cloud_blob); 26 sor.setLeafSize (0.01f, 0.01f, 0.01f); 27 sor.filter (*cloud_filtered_blob); 28 29 // Convert to the templated PointCloud 30 pcl::fromROSMsg (*cloud_filtered_blob, *cloud_filtered); 31 32 std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl; 33 34 // Write the downsampled version to disk 35 pcl::PCDWriter writer; 36 writer.write<pcl::PointXYZ> ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false); 37 38 pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ()); 39 pcl::PointIndices::Ptr inliers (new pcl::PointIndices ()); 40 // Create the segmentation object 41 pcl::SACSegmentation<pcl::PointXYZ> seg; 42 // Optional 43 seg.setOptimizeCoefficients (true); 44 // Mandatory 45 seg.setModelType (pcl::SACMODEL_PLANE); 46 seg.setMethodType (pcl::SAC_RANSAC); 47 seg.setMaxIterations (1000); 48 seg.setDistanceThreshold (0.01); 49 50 // Create the filtering object 51 pcl::ExtractIndices<pcl::PointXYZ> extract; 52 53 int i = 0, nr_points = (int) cloud_filtered->points.size (); 54 // While 30% of the original cloud is still there 55 while (cloud_filtered->points.size () > 0.3 * nr_points) 56 { 57 // Segment the largest planar component from the remaining cloud 58 seg.setInputCloud (cloud_filtered); 59 seg.segment (*inliers, *coefficients); 60 if (inliers->indices.size () == 0) 61 { 62 std::cerr << "Could not estimate a planar model for the given dataset." << std::endl; 63 break; 64 } 65 66 // Extract the inliers 67 extract.setInputCloud (cloud_filtered); 68 extract.setIndices (inliers); 69 extract.setNegative (false); 70 extract.filter (*cloud_p); 71 std::cerr << "PointCloud representing the planar component: " << cloud_p->width * cloud_p->height << " data points." << std::endl; 72 73 std::stringstream ss; 74 ss << "table_scene_lms400_plane_" << i << ".pcd"; 75 writer.write<pcl::PointXYZ> (ss.str (), *cloud_p, false); 76 77 // Create the filtering object 78 extract.setNegative (true); 79 extract.filter (*cloud_f); 80 cloud_filtered.swap (cloud_f); 81 i++; 82 } 83 84 return (0); 85}
ビルド結果
/home/------/pcl/extract_indices/extract_indices.cpp: In function ‘int main(int, char**)’: /home/------/pcl/extract_indices/extract_indices.cpp:15:8: error: ‘pcl::PointCloud2’ has not been declared pcl::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2), cloud_filtered_blob (new sensor_msgs::PointCloud2); ^~~~~~~~~~~ /home/------/pcl/extract_indices/extract_indices.cpp:20:43: error: ‘cloud_blob’ was not declared in this scope reader.read ("table_scene_lms400.pcd", *cloud_blob); ^~~~~~~~~~ /home/------/pcl/extract_indices/extract_indices.cpp:20:43: note: suggested alternative: ‘cloud_f’ reader.read ("table_scene_lms400.pcd", *cloud_blob); ^~~~~~~~~~ cloud_f /home/------/pcl/extract_indices/extract_indices.cpp:25:18: error: ‘sensor_msgs’ was not declared in this scope pcl::VoxelGrid<sensor_msgs::PointCloud2> sor; ^~~~~~~~~~~ /home/------/pcl/extract_indices/extract_indices.cpp:25:42: error: template argument 1 is invalid pcl::VoxelGrid<sensor_msgs::PointCloud2> sor; ^ /home/------/pcl/extract_indices/extract_indices.cpp:26:7: error: request for member ‘setInputCloud’ in ‘sor’, which is of non-class type ‘int’ sor.setInputCloud (cloud_blob); ^~~~~~~~~~~~~ /home/------/pcl/extract_indices/extract_indices.cpp:27:7: error: request for member ‘setLeafSize’ in ‘sor’, which is of non-class type ‘int’ sor.setLeafSize (0.01f, 0.01f, 0.01f); ^~~~~~~~~~~ /home/------/pcl/extract_indices/extract_indices.cpp:28:7: error: request for member ‘filter’ in ‘sor’, which is of non-class type ‘int’ sor.filter (*cloud_filtered_blob); ^~~~~~ /home/------/pcl/extract_indices/extract_indices.cpp:28:16: error: ‘cloud_filtered_blob’ was not declared in this scope sor.filter (*cloud_filtered_blob); ^~~~~~~~~~~~~~~~~~~ /home/------/pcl/extract_indices/extract_indices.cpp:28:16: note: suggested alternative: ‘cloud_filtered’ sor.filter (*cloud_filtered_blob); ^~~~~~~~~~~~~~~~~~~ cloud_filtered /home/------/pcl/extract_indices/extract_indices.cpp:31:8: error: ‘fromROSMsg’ is not a member of ‘pcl’ pcl::fromROSMsg (*cloud_filtered_blob, *cloud_filtered); ^~~~~~~~~~ In file included from /home/------/pcl/extract_indices/extract_indices.cpp:6:0: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations] SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel)); ^~~~~~~~~~~~~~~ /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here CMakeFiles/extract_indices.dir/build.make:62: recipe for target 'CMakeFiles/extract_indices.dir/extract_indices.cpp.o' failed make[2]: *** [CMakeFiles/extract_indices.dir/extract_indices.cpp.o] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/extract_indices.dir/all' failed make[1]: *** [CMakeFiles/extract_indices.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2
回答1件
0
ベストアンサー
参考にされたサイトの情報が古いようです。
最新のPCLの公式のチュートリアルを参考にしましょう
投稿2021/01/15 16:49
総合スコア187
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2021/01/16 01:23