1. 2016/06/15 M1

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2

3. 3

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7.
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Ubuntu Mac mini
Kinect
IEEE802.11n100BASE-T

8. 8
VLC
http://wiki.princo.org/?VLC%A4%C7%A5%B9%A5%C8%A5%EA%A1%BC%A5%DF%A5%F3%A5%B0%C7%DB
%BF%AE(Windows%C8%C7(XP%2CVista%2C7))
➢

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10. 10
x
y
z

11. 11
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y
z

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Ubuntu Desktop Mac mini
Kinect
RGB, Depth Data
RGB, Depth ➔ PCD
PCD PCD
Point Cloud Library
Point Cloud Data
USB 2.0
100BASE-T IEEE802.11n

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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ> cloud;
// Fill in the cloud data
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 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;
for (size_t i = 0; i < cloud.points.size (); ++i)
std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
return (0);
}
cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(HELLO_WORLD)
find_package(PCL 1.3 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_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})