第1章 点云图

wrjs@ubuntu ~ % mkdir -p test/bulid
wrjs@ubuntu ~ % cp book_code/chapter_3/NDT_PCL_demo/CMakeLists.txt test 
wrjs@ubuntu ~ % cp book_code/chapter_3/NDT_PCL_demo/normal_distributions_transform.cpp test 
wrjs@ubuntu ~ % cd test/bulid 
wrjs@ubuntu ~/test/bulid % cp ../../book_code/chapter_3/NDT_PCL_demo/cloud1.pcd ../
wrjs@ubuntu ~/test/bulid % cp ../../book_code/chapter_3/NDT_PCL_demo/cloud2.pcd ../
wrjs@ubuntu ~/test/bulid % pcl_viewer ../cloud1.pcd 
zsh: command not found: pcl_viewer
wrjs@ubuntu ~/test/bulid % pcl_viewer ../cloud2.pcd
zsh: command not found: pcl_viewer
wrjs@ubuntu ~/test/bulid % cmake .. 
。。。
wrjs@ubuntu ~/test/bulid % make
Scanning dependencies of target normal_distributions_transform
[ 50%] Building CXX object CMakeFiles/normal_distributions_transform.dir/normal_distributions_transform.cpp.o
[100%] Linking CXX executable normal_distributions_transform
[100%] Built target normal_distributions_transform
wrjs@ubuntu ~/test/bulid % ./normal_distributions_transform ../cloud1.pcd ../cloud2.pcd 
Loaded 112586 data points from cloud1.pcd
Loaded 112624 data points from cloud2.pcd
Filtered cloud contains 12433data points from cloud2.pcd
Normal Distribution Transform has converged:1score: 0.638694
wrjs@ubuntu ~/test/bulid %