las转pcd格式编译不通过的问题-摩杜云开发者社区

las2pcd.cpp如下：

#include <iostream>
#include <cstdlib>
#include <liblas/liblas.hpp>//liblas tou wen jin
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <liblas/reader.hpp>
#include <liblas/factory.hpp>
#include <liblas/detail/fwd.hpp>
#include <liblas/point.hpp>

using namespace std;

int main (int argc, char** argv)
{
    std::ifstream ifs(argv[1], std::ios::in | std::ios::binary); // 打开las文件
    liblas::ReaderFactory f;
    liblas::Reader reader = f.CreateWithStream(ifs); // 读取las文件

    unsigned long int nbPoints=reader.GetHeader().GetPointRecordsCount();//获取las数据点的个数

    pcl::PointCloud<pcl::PointXYZRGB> cloud;
    cloud.width    = nbPoints;  //保证与las数据点的个数一致    
    cloud.height   = 1;         
    cloud.is_dense = false;
    cloud.points.resize (cloud.width * cloud.height);

    int i=0;                
    uint16_t r1, g1, b1;    
    int r2, g2, b2;         
    uint32_t rgb;           

    while(reader.ReadNextPoint()) 
    {
        // 获取las数据的x，y，z信息
        cloud.points[i].x = (reader.GetPoint().GetX());
        cloud.points[i].y = (reader.GetPoint().GetY());
        cloud.points[i].z = (reader.GetPoint().GetZ());
        
        //获取las数据的r，g，b信息
        r1 = (reader.GetPoint().GetColor().GetRed());
        g1 = (reader.GetPoint().GetColor().GetGreen());
        b1 = (reader.GetPoint().GetColor().GetBlue()); 
        r2 = ceil(((float)r1/65536)*(float)256);
        g2 = ceil(((float)g1/65536)*(float)256);
        b2 = ceil(((float)b1/65536)*(float)256);
        rgb = ((int)r2) << 16 | ((int)g2) << 8 | ((int)b2);
        cloud.points[i].rgb = *reinterpret_cast<float*>(&rgb);
                    
        i++; 
    }
  
    pcl::io::savePCDFileASCII ("pointcloud.pcd", cloud);//存储为pcd类型文件
    return (0);
}

CMakeLists.txt如下：

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(las2pcd)
find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/libLAS/include")

link_directories(${PCL_LIBRARY_DIRS})
link_directories("${CMAKE_CURRENT_SOURCE_DIR}/libLAS/lib")
add_definitions(${PCL_DEFINITIONS})
    
add_executable (las2pcd las2pcd.cpp)
target_link_libraries (las2pcd ${PCL_LIBRARIES})

target_link_libraries (las2pcd "${CMAKE_CURRENT_SOURCE_DIR}/libLAS/lib/liblas.lib" )
target_link_libraries (las2pcd "${CMAKE_CURRENT_SOURCE_DIR}/libLAS/lib/liblas_c.lib" )


set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(DLL_LIBLAS "${CMAKE_CURRENT_SOURCE_DIR}/libLAS/dll/liblas.dll" "${CMAKE_CURRENT_SOURCE_DIR}/libLAS/dll/gdal111.dll" "${CMAKE_CURRENT_SOURCE_DIR}/libLAS/dll/geotiff.dll" "${CMAKE_CURRENT_SOURCE_DIR}/libLAS/dll/libtiff.dll")

file(COPY ${DLL_LIBLAS} DESTINATION ${EXECUTABLE_OUTPUT_PATH}/release)
file(COPY ${DLL_LIBLAS} DESTINATION ${EXECUTABLE_OUTPUT_PATH}/debug)

错误如下：

[ 50%] Building CXX object CMakeFiles/las2pcd.dir/las2pcd.cpp.o
[100%] Linking CXX executable ../bin/las2pcd
CMakeFiles/las2pcd.dir/las2pcd.cpp.o：在函数‘main’中：
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:19：对‘liblas::ReaderFactory::CreateWithStream(std::istream&)’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:21：对‘liblas::Reader::GetHeader() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:21：对‘liblas::Header::GetPointRecordsCount() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:34：对‘liblas::Reader::ReadNextPoint()’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:37：对‘liblas::Reader::GetPoint() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:37：对‘liblas::Point::GetX() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:38：对‘liblas::Reader::GetPoint() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:38：对‘liblas::Point::GetY() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:39：对‘liblas::Reader::GetPoint() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:39：对‘liblas::Point::GetZ() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:42：对‘liblas::Reader::GetPoint() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:42：对‘liblas::Point::GetColor() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:43：对‘liblas::Reader::GetPoint() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:43：对‘liblas::Point::GetColor() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:44：对‘liblas::Reader::GetPoint() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:44：对‘liblas::Point::GetColor() const’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:19：对‘liblas::Reader::~Reader()’未定义的引用
/home/s/pcl_study/chapter3/5/source/las2pcd.cpp:19：对‘liblas::Reader::~Reader()’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/las2pcd.dir/build.make:357: recipe for target '../bin/las2pcd' failed
make[3]: *** [../bin/las2pcd] Error 1
CMakeFiles/Makefile2:72: recipe for target 'CMakeFiles/las2pcd.dir/all' failed
make[2]: *** [CMakeFiles/las2pcd.dir/all] Error 2
CMakeFiles/Makefile2:84: recipe for target 'CMakeFiles/las2pcd.dir/rule' failed
make[1]: *** [CMakeFiles/las2pcd.dir/rule] Error 2
Makefile:118: recipe for target 'las2pcd' failed
make: *** [las2pcd] Error 2