PCL点云库出现错误：..\dist.h(523): error C3861: “pop_t”: 找不到标识符

雨点打透心脏的1/2处 2022-10-15 08:57 272阅读 0赞

工程代码：简单地测试了k-d树的最近邻搜索功能

#include<pcl/point_cloud.h>
    #include<pcl/kdtree/kdtree_flann.h>
    
    #include<iostream>
    #include<vector>
    #include<ctime>
    
    using namespace std;
    
    int
    main(int argc, char** argv)
    {
    	//使用系统时间做随机数种子
    	srand(time(NULL));
    	//创建一个PointXYZ类型点云指针
    	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    
    	//初始化点云数据
    	cloud->width = 1000;//宽为1000
    	cloud->height = 1;//高为1，说明为无序点云
    	cloud->points.resize(cloud->width * cloud->height);
    	//使用随机数填充数据
    
    	for (size_t i = 0; i < cloud->size(); ++i)
    	{
    		//PointCloud类中对[]操作符进行了重载，返回的是对points的引用
    		// (*cloud)[i].x 等同于 cloud->points[i].x
    		(*cloud)[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f);
    		cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);//推进写法
    		cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);//推进写法
    	}
    
    	//创建kd树对象
    	pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
    
    	//设置点云输入,将在cloud中搜索
    	kdtree.setInputCloud(cloud);
    
    	//设置被搜索点,用随机数填充
    	pcl::PointXYZ searchPoint;
    	searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f);
    	searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f);
    	searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f);
    
    	//开始k最近邻搜索
    	int K = 10;
    	vector<int> pointIdxNKNSearch(K);
    	vector<float> pointNKNSquaredDistance(K);
    
    	cout << "K nearest neighbor search at (" << searchPoint.x
    		<< " " << searchPoint.y
    		<< " " << searchPoint.z
    		<< ") with K = " << K << endl;
    
    	if (kdtree.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
    	{
    		for (size_t i = 0; i < pointIdxNKNSearch.size(); ++i)
    		{
    			cout << "    " << cloud->points[pointIdxNKNSearch[i]].x
    				<< " " << cloud->points[pointIdxNKNSearch[i]].x
    				<< " " << cloud->points[pointIdxNKNSearch[i]].z
    				<< "( squared distance: " << pointNKNSquaredDistance[i] << " )";
    		}
    	}
    
    	//基于半径的邻域搜索
    	//搜索结果保存在两个数组中，一个是下标，一个是距离
    	vector<int> pointIdxRadiusSearch;
    	vector<float> pointRadiusSquaredDistance;
    
    	//设置搜索半径，随机值
    	float radius = 256.0f* rand() / (RAND_MAX + 1.0f);
    
    	cout << "Neighbors within radius search at (" << searchPoint.x
    		<< " " << searchPoint.y
    		<< " " << searchPoint.z
    		<< ") with radius=" << radius << endl;
    
    	if (kdtree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)
    	{
    		for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)
    		{
    			cout << "    " << cloud->points[pointIdxRadiusSearch[i]].x
    				<< " " << cloud->points[pointIdxRadiusSearch[i]].x
    				<< " " << cloud->points[pointIdxRadiusSearch[i]].z
    				<< "( squared distance: " << pointRadiusSquaredDistance[i] << " )";
    		}
    	}
    	return 0;
    }

但出现了如下错误警告：

> 1>d:\\pcl 1.8.1\\3rdparty\\flann\\include\\flann\\algorithms\\dist.h(523): error C3861: “pop\_t”: 找不到标识符  
> 1>d:\\pcl 1.8.1\\3rdparty\\flann\\include\\flann\\algorithms\\dist.h(523): note: 此诊断出现在编译器生成的函数“flann::HammingPopcnt<T>::ResultType flann::HammingPopcnt<T>::operator ()(Iterator1,Iterator2,size\_t,flann::HammingPopcnt<T>::ResultType) const”中  
> 1>d:\\pcl 1.8.1\\3rdparty\\flann\\include\\flann\\algorithms\\dist.h(527): note: 参见对正在编译的 类 模板 实例化 "flann::HammingPopcnt<T>" 的引用

# 解决办法 #

打开pcl 1.8.1\\3rdparty\\flann\\include\\flann\\algorithms\\dist.h文件：

错误定位在了523行：

>     result = lut(reinterpret_cast<const unsigned char*> (a),
>                          reinterpret_cast<const unsigned char*> (b), size * sizeof(pop_t));

原来是在当前作用域中找不到pop\_t数据类型的定义，从上文代码中，将相关的定义复制到当前作用域中即可：

>     typedef unsigned long long pop_t;

![20210524140438600.png][]

重新编译，问题解决。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70][]

[20210524140438600.png]: /images/20221014/d25d2966b0c7450998ec7943ed195dba.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2x1b2xhaWh1YTIwMTg_size_16_color_FFFFFF_t_70]: /images/20221014/e9d4e9cd386e4e4a838e28cb5e1a3570.png