heightmap_plane_segmentation.zip_segmentation_点云 平面_点云数据_点云获取

cmake_minimum_required(VERSION 2.8.3) project(velodyne_height_map) set(${PROJECT_NAME}_CATKIN_DEPS nodelet roscpp pcl_ros sensor_msgs tf) find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS} angles pcl_conversions roslaunch rostest) find_package(Boost) find_package(PCL REQUIRED QUIET COMPONENTS common) include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIR}) catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}) add_executable(heightmap_node src/heightmap_node.cpp src/heightmap.cpp) target_link_libraries(heightmap_node ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES}) add_library(heightmap_nodelet src/heightmap_nodelet.cpp src/heightmap.cpp) target_link_libraries(heightmap_nodelet ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES}) # install the files needed to run this package install(TARGETS heightmap_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(TARGETS heightmap_nodelet RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) install(FILES nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) # unit tests if (CATKIN_ENABLE_TESTING) message("-- ${PROJECT_NAME} unit testing enabled") # Download a packet capture (PCAP) file containing test data. # Store it in devel-space, so rostest can easily find it. catkin_download_test_data( ${PROJECT_NAME}_tests_class.pcap http://download.ros.org/data/velodyne/class.pcap DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests MD5 65808d25772101358a3719b451b3d015) # declare rostest scripts add_rostest(tests/heightmap_node_hz.test) add_rostest(tests/heightmap_nodelet_hz.test) # parse check all the launch/*.launch files ##roslaunch_add_file_check(launch) else () message("-- ${PROJECT_NAME} unit testing disabled") endif (CATKIN_ENABLE_TESTING)