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<!DOCTYPE html><html lang="en"><head><meta charset="UTF-8"><meta http-equiv="X-UA-Compatible" content="IE=edge"><meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1"><meta name="description" content=""><meta name="keywords" content=""><meta name="author" content="Charon Cheung"><meta name="copyright" content="Charon Cheung"><title>If you wish for peace, prepare for war | 沉默杀手</title><link rel="shortcut icon" href="/melody-favicon.ico"><link rel="stylesheet" href="/css/index.css?version=1.6.1"><link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/font-awesome@latest/css/font-awesome.min.css?version=1.6.1"><link rel="dns-prefetch" href="https://cdn.staticfile.org"><link rel="dns-prefetch" href="https://cdn.bootcss.com"><link rel="dns-prefetch" href="https://creativecommons.org"><script>var GLOBAL_CONFIG = {
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} </script><meta name="generator" content="Hexo 5.4.0"></head><body><canvas class="fireworks"></canvas><i class="fa fa-arrow-right" id="toggle-sidebar" aria-hidden="true"></i><div id="sidebar"><div class="author-info"><div class="author-info__avatar text-center"><img src="https://s2.loli.net/2022/02/17/HQaCXUBn64zsMIL.png"></div><div class="author-info__name text-center">Charon Cheung</div><div class="author-info__description text-center"></div><hr><div class="author-info-articles"><a class="author-info-articles__archives article-meta" href="/archives"><span class="pull-left">Articles</span><span class="pull-right">650</span></a><a class="author-info-articles__tags article-meta" href="/tags"><span class="pull-left">Tags</span><span class="pull-right">6</span></a><a class="author-info-articles__categories article-meta" href="/categories"><span class="pull-left">Categories</span><span class="pull-right">51</span></a></div></div></div><nav id="nav" style="background-image: url(https://s2.loli.net/2024/11/12/x1aqcwUG3XDiskN.jpg)"><div id="page-header"><span class="pull-left"> <a id="site-name" href="/">沉默杀手</a></span><i class="fa fa-bars toggle-menu pull-right" aria-hidden="true"></i><span class="pull-right menus"><a class="site-page" href="/">Home</a><a class="site-page" href="/archives">Archives</a><a class="site-page" href="/tags">Tags</a><a class="site-page" href="/categories">Categories</a></span></div><div id="site-info"><div id="site-title">沉默杀手</div><div id="site-sub-title">If you wish for peace, prepare for war</div></div></nav><div id="content-outer"><div class="layout" id="content-inner"><div class="recent-post-item article-container"><a class="article-title" href="/2024/11/07/ROS/ROS2/ROS2%E7%9A%84%E6%A6%82%E8%BF%B0%E5%92%8C%E5%AE%89%E8%A3%85/">ROS2的概述和安装</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-11-07</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/ROS/">ROS</a><i class="fa fa-angle-right" aria-hidden="true"></i><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/ROS/ROS2/">ROS2</a></span><div class="content"><p>ros2.0是一个跨平台的机器人开发框架，它在ros1.0的基础上进行了重构和改进，以适应更多的应用场景和需求。ros2.0的架构可以分为以下几个层次:</p>
<ul>
<li><p>OS层: ros2.0支持多种操作系统，包括Linux、Windows、macOS、RTOS等，也支持没有操作系统的裸机.。</p>
</li>
<li><p>中间层: ros2.0采用基于RTSP协议的DDS (Data-Distribution Service) 作为中间层，DDS是一种用于实时和嵌入式系统发布-订阅式通信的工业标准，它提供了点对点的通信模式，不需要像ros1.0那样借由master节点来完成两个节点间通信，这使得系统更加容错和灵活。</p>
</li>
<li><p>接口层: ros2.0提供了两个主要的接口层，分别是rmw (ros middleware interface) 和rd (ros dient libraries) 。rmw是相对底层的接口层，直接和DDS交互，C语言实现:rc是对mw相对高层的抽象，C/C++实现。此外，还有一个ros to dds组件，主要为用户直接访问DDS层提供接口。</p>
</li>
<li><p>应用层: ros2.0支持用C++或者Python来编写应用程序，也支持其他语言的绑定。应用程序可以通过r或者ros to dds来调用中间层的功能。</p>
</li>
</ul>
<p>如果项目需要实时性和分布通信支持，ROS 2.0提供了更好的解决方案</p>
<h2 id="安装"><a href="#安装" class="headerlink" title="安装"></a>安装</h2><p>安装参考 <a target="_blank" rel="noopener" href="https://www.guyuehome.com/42960">安装ROS2的过程</a>，唯一不同地方是我没有遇到 2.3 中的报错。</p>
<p>截至目前有两个ROS 2的版本还没有到项目终止日期 (EOL end-of-life)，一个是最新的发布版本为Iron Irwini，发布时间是2023年5月23日，EOL date是2024年11月，另一个是<strong>Humble Hawksbil</strong>，发布时间是2022年5月23日，EOL date是到2027年5月，比较后我选择了Humble这个版本来学习。</p>
<p><code>ament_cmake</code>是cmake的增强版</p>
<p>ROS2安装指定包，和ROS1一样，例如 <code>sudo apt-get install ros-humble-irobot-create-msgs</code></p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/09/27/ubuntu%E9%85%8D%E7%BD%AECUDA/">ubuntu配置CUDA</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-09-27</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/cuda/">cuda</a></span><div class="content"><ul>
<li>Ensure there is enough space in /tmp and that the installation package is not corrupt</li>
</ul>
<p>刚开始安装<code>./cuda_12.1.1_530.30.02_linux.run</code>时， <code>/</code>所在的<code>/dev/sdb7</code>所剩空间越来越小，最终安装失败，提示 <code>Ensure there is enough space in /tmp and that the installation package is not corrupt</code>。 所以必须先扩展<code>/</code>所在的硬盘容量</p>
<p>按这个步骤安装，一般不会出问题: <a target="_blank" rel="noopener" href="https://blog.csdn.net/weixin_34910922/article/details/118046455">ubuntu18.04上cuda及cudnn安装</a></p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/09/23/cmake%20qmake/%E4%BA%A4%E5%8F%89%E7%BC%96%E8%AF%91PCL/">交叉编译 PCL</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-09-23</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/cmake-qmake/">cmake/qmake</a></span><div class="content"><p>在x86架构的Ubuntu22.04交叉编译PCL源码，以能在ARM aarch64系统上运行，也就是全志MR527的TinaLinux 5.15.123 aarch64</p>
<p>先看完成的状态，也就是ARM平台的PCL库文件链接关系:</p>
<p><code>libpcl_kdtree.so</code><br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br></pre></td><td class="code"><pre><span class="line">ldd /usr/lib/aarch64-linux-gnu/libpcl_kdtree.so</span><br><span class="line"> linux-vdso.so.<span class="number">1</span> (<span class="number">0x0000ffff8d240000</span>)</span><br><span class="line"></span><br><span class="line"> libpcl_common.so.<span class="number">1.10</span> => <span class="regexp">/lib/aar</span>ch64-linux-gnu/libpcl_common.so.<span class="number">1.10</span> (<span class="number">0x0000ffff8cfb7000</span>)</span><br><span class="line"> liblz4.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/liblz4.so.<span class="number">1</span> (<span class="number">0x0000ffff8cf89000</span>)</span><br><span class="line"></span><br><span class="line"></span><br><span class="line"> libstdc++.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libstdc++.so.<span class="number">6</span> (<span class="number">0x0000ffff8cda4000</span>)</span><br><span class="line"> libgomp.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/libgomp.so.<span class="number">1</span> (<span class="number">0x0000ffff8cd56000</span>)</span><br><span class="line"> libgcc_s.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/libgcc_s.so.<span class="number">1</span> (<span class="number">0x0000ffff8cd32000</span>)</span><br><span class="line"> libc.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libc.so.<span class="number">6</span> (<span class="number">0x0000ffff8cbbf000</span>)</span><br><span class="line"> /lib/ld-linux-aarch64.so.<span class="number">1</span> (<span class="number">0x0000ffff8d210000</span>)</span><br><span class="line"> libm.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libm.so.<span class="number">6</span> (<span class="number">0x0000ffff8cb14000</span>)</span><br><span class="line"> libpthread.so.<span class="string">0 =></span> /lib/aarch64-linux-gnu/libpthread.so.<span class="number">0</span> (<span class="number">0x0000ffff8cae3000</span>)</span><br><span class="line"> libdl.so.<span class="string">2 =></span> /lib/aarch64-linux-gnu/libdl.so.<span class="number">2</span> (<span class="number">0x0000ffff8cacf000</span>)</span><br></pre></td></tr></table></figure></p>
<p><code>libpcl_common.so</code><br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br></pre></td><td class="code"><pre><span class="line">ldd /usr/lib/aarch64-linux-gnu/libpcl_common.so</span><br><span class="line"> linux-vdso.so.<span class="number">1</span> (<span class="number">0x0000ffff975e8000</span>)</span><br><span class="line"> libstdc++.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libstdc++.so.<span class="number">6</span> (<span class="number">0x0000ffff972d0000</span>)</span><br><span class="line"> libm.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libm.so.<span class="number">6</span> (<span class="number">0x0000ffff97225000</span>)</span><br><span class="line"> libgomp.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/libgomp.so.<span class="number">1</span> (<span class="number">0x0000ffff971d7000</span>)</span><br><span class="line"> libgcc_s.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/libgcc_s.so.<span class="number">1</span> (<span class="number">0x0000ffff971b3000</span>)</span><br><span class="line"> libpthread.so.<span class="string">0 =></span> /lib/aarch64-linux-gnu/libpthread.so.<span class="number">0</span> (<span class="number">0x0000ffff97182000</span>)</span><br><span class="line"> libc.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libc.so.<span class="number">6</span> (<span class="number">0x0000ffff9700f000</span>)</span><br><span class="line"> /lib/ld-linux-aarch64.so.<span class="number">1</span> (<span class="number">0x0000ffff975b8000</span>)</span><br><span class="line"> libdl.so.<span class="string">2 =></span> /lib/aarch64-linux-gnu/libdl.so.<span class="number">2</span> </span><br></pre></td></tr></table></figure></p>
<hr>
<h2 id="交叉编译-PCL"><a href="#交叉编译-PCL" class="headerlink" title="交叉编译 PCL"></a>交叉编译 PCL</h2><p>在终端找到<code>/opt/cmake/bin</code>，启动<code>cmake-gui</code>，这里是新安装的cmake 3.27. 选择PCL的源码目录和build目录，选择交叉编译平台。没有显示需求，所以<code>cmake-gui</code>不需要选择 OpenGL和VTK</p>
<h3 id="The-C-compiler-identification-is-unknown"><a href="#The-C-compiler-identification-is-unknown" class="headerlink" title="The C compiler identification is unknown"></a>The C compiler identification is unknown</h3><p>既然是交叉编译，那就得用跨平台的编译器，注意在启动<code>cmake-gui</code>的终端要提前设置环境变量:<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br></pre></td><td class="code"><pre><span class="line">export ARCH=arm64</span><br><span class="line">export TOOLCHAIN_PATH=<span class="regexp">/home/us</span>er/toolschain/gcc-ubuntu-<span class="number">9.3</span>.<span class="number">0</span>-<span class="number">2020.03</span>-x86_64-aarch64-linux-gnu</span><br><span class="line">export LD_LIBRARY_PATH=<span class="regexp">/home/us</span>er/toolschain/gcc-ubuntu-<span class="number">9.3</span>.<span class="number">0</span>-<span class="number">2020.03</span>-x86_64-aarch64-linux-gnu/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH </span><br><span class="line">export CROSS_COMPILE=<span class="regexp">/home/us</span>er/toolschain/gcc-ubuntu-<span class="number">9.3</span>.<span class="number">0</span>-<span class="number">2020.03</span>-x86_64-aarch64-linux-gnu/bin/aarch64-linux-gnu-</span><br><span class="line"></span><br></pre></td></tr></table></figure></p>
<h3 id="不重要的报警"><a href="#不重要的报警" class="headerlink" title="不重要的报警"></a>不重要的报警</h3><p>configure PCL时出现的部分信息，可以无视<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line">Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE) <span class="comment"># OMIT</span></span><br><span class="line">Could NOT find LIBUSB_1 (missing: LIBUSB_1_LIBRARY LIBUSB_1_INCLUDE_DIR) <span class="comment"># OMIT</span></span><br><span class="line">Could NOT find ZLIB (missing: ZLIB_LIBRARY ZLIB_INCLUDE_DIR) </span><br><span class="line">Could NOT find PNG (missing: PNG_LIBRARY PNG_PNG_INCLUDE_DIR) </span><br></pre></td></tr></table></figure></p>
<p>编译的过程中，发现需要处理Boost, Flann, lz4, hdf5等库，它们也需要交叉编译。</p>
<h2 id="交叉编译Boost"><a href="#交叉编译Boost" class="headerlink" title="交叉编译Boost"></a>交叉编译Boost</h2><p>PCL需要Boost，cmake时会提示无法找到Boost的错误，不是本机的x86 Boost，是aarch64的Boost，也就是说需要交叉编译Boost。</p>
<p>下载Boost1.74源码，找到<code>bootstrap.sh</code>，然后执行<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">./bootstrap.sh --with-libraries=<span class="keyword">system</span>,filesystem,thread,date_time,iostreams --with-toolset=gcc </span><br></pre></td></tr></table></figure></p>
<p>修改<code>project-config.jam</code>文件，把<code>using gcc</code>部分修改为<br><code>using gcc : arm : /home/user/toolschain/gcc-ubuntu-9.3.0-2020.03-x86_64-aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc ;</code></p>
<p>找到<code>gcc.jam</code>文件，在430行左右，增加一行<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment"># On Windows, fPIC is the default, and specifying -fPIC explicitly leads</span></span><br><span class="line"><span class="comment"># to a warning.</span></span><br><span class="line"><span class="keyword">local</span> non-windows = [ set.difference $(all-os) : cygwin windows ] ;</span><br><span class="line">compile-<span class="keyword">link</span>-flags <<span class="keyword">link</span>>shared/<target-os>$(non-windows) : -fPIC ;</span><br><span class="line"><span class="comment"># 增加下面这行</span></span><br><span class="line">compile-<span class="keyword">link</span>-flags <<span class="keyword">link</span>>static/<target-os>$(non-windows) : -fPIC ;</span><br></pre></td></tr></table></figure><br>此步骤的主要目的是打开-fPIC，避免PCL在编译时找不到boost库的.a文件</p>
<p>进行编译并安装boost:<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">sudo ./b2 cxxflags=-fPIC cflags=-fPIC -a install</span><br></pre></td></tr></table></figure></p>
<p>编译时可能会报错: <font size=4 color="orange"> error while loading shared libraries: libisl.so.22: cannot open shared object file: No such file </font></p>
<p>将交叉编译的<code>toolschain</code>地址的这几个库文件都复制到<code>/usr/lib/x86_64-linux-gnu</code>: <code>libctf-arm64.so.0</code>, <code>libopcodes-2.34-arm64.so</code>, <code>libbfd-2.34-arm64.so</code>, <code>libisl.so.22</code>。 如果没报错就不用了。</p>
<p>编译结束，我把生成的Boost库的文件都放到了<code>/usr/local/lib</code>。也就是<code>/usr/lib/x86_64-linux-gnu</code>中的<code>libboost</code>开头的库文件仍是x86的，<code>/usr/local/lib</code>中的<code>libboost</code>开头的库文件是<code>AArch64</code>架构。对于ARM的so库文件，在x86上用<code>ldd</code>命令查看会出现 <strong>not a dynamic executable</strong></p>
<p>修改PCL中的<code>pcl_find_boost.cmake</code>文件<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line">set(Boost_DIR <span class="string">"/usr/lib/x86_64-linux-gnu/cmake"</span>)</span><br><span class="line"> <span class="comment"># Required boost modules</span></span><br><span class="line">set(BOOST_REQUIRED_MODULES filesystem date_time iostreams <span class="keyword">system</span>)</span><br><span class="line">find_package(Boost <span class="number">1.74</span>.<span class="number">0</span> REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES})</span><br></pre></td></tr></table></figure></p>
<h3 id="lz4-1-9-1-arm64版本的交叉编译"><a href="#lz4-1-9-1-arm64版本的交叉编译" class="headerlink" title="lz4 1.9.1 arm64版本的交叉编译"></a>lz4 1.9.1 arm64版本的交叉编译</h3><p>下载源码后执行<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br></pre></td><td class="code"><pre><span class="line">make CC=<span class="regexp">/home/us</span>er/toolschain/gcc-ubuntu-<span class="number">9.3</span>.<span class="number">0</span>-<span class="number">2020.03</span>-x86_64-aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc</span><br><span class="line"><span class="keyword">mkdir</span> lz4_arm</span><br><span class="line">make install PREFIX=$(pwd)/lz4_arm</span><br></pre></td></tr></table></figure><br>运行<code>ldconfig</code>， 出现 <code>/sbin/ldconfig.real: /lib/x86_64-linux-gnu/liblz4.so.1 is not a symbolic link</code></p>
<p>运行<code>file /lib/liblz4.so</code>，出现<code>liblz4.so: broken symbolic link to liblz4.s</code></p>
<p>目前解决: 把地平线x3M的 <code>/lib/liblz4.so</code> 和 <code>/lib/liblz4.so.1</code> 复制到我的本机的 <code>/lib</code>目录， <code>/usr/lib/x86_64-linux-gnu</code>的几个 liblz4.so 仍然是 x86 平台。</p>
<h3 id="hdf5的问题"><a href="#hdf5的问题" class="headerlink" title="hdf5的问题"></a>hdf5的问题</h3><p>编译flann时，链接hdf5出错<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br></pre></td><td class="code"><pre><span class="line">/home/user/toolschain/gcc-ubuntu-<span class="number">9.3</span>.<span class="number">0</span>-<span class="number">2020.03</span>-x86_64-aarch64-linux-gnu/bin/../lib/gcc-cross/aarch64-linux-gnu/<span class="number">9</span>/../../../../aarch64-linux-gnu/bin/ld: <span class="regexp">/usr/li</span>b/x86_64-linux-gnu/hdf5/serial/libhdf5.so: error adding symbols: file in wrong <span class="keyword">format</span></span><br><span class="line"></span><br><span class="line">collect2: error: ld returned <span class="number">1</span> <span class="keyword">exit</span> status</span><br></pre></td></tr></table></figure><br>显然需要的是ARM的hdf5，这个库的交叉编译特别麻烦，最后解决方法是从一台ARM平台的主机上找到 <code>hdf5</code>文件夹，放到了 <code>/usr/lib/x86_64-linux-gnu</code></p>
<p>如果交叉编译hdf5，参考:</p>
<ol>
<li>使用cmake-gui进行configure和generate,第一次configure会失败,重新configure即可</li>
<li>进行make,两次,编译失败</li>
<li>拷贝bin/H5detect bin/H5make_libsettings libhdf5.settings到arm平台</li>
<li>在arm平台修改文件执行权限,执行H5detect和H5make_libsettings,把程序输出分别保存到H5Tinit.c和H5lib_settings.c</li>
<li>拷贝H5Tinit.c和H5lib_settings.c到主机的编译目录下,继续编译</li>
</ol>
<h3 id="交叉编译flann库"><a href="#交叉编译flann库" class="headerlink" title="交叉编译flann库"></a>交叉编译flann库</h3><p>在一台ARM平台的设备上，flann库文件是这样的<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br></pre></td><td class="code"><pre><span class="line">/usr/lib/aarch64-linux-gnu/libflann.so</span><br><span class="line">/usr/lib/aarch64-linux-gnu/libflann.so.<span class="number">1.9</span></span><br><span class="line">/usr/lib/aarch64-linux-gnu/libflann.so.<span class="number">1.9</span>.<span class="number">1</span></span><br><span class="line"></span><br><span class="line">/usr/lib/aarch64-linux-gnu/libflann_cpp.so</span><br><span class="line">/usr/lib/aarch64-linux-gnu/libflann_cpp.so.<span class="number">1.9</span></span><br><span class="line">/usr/lib/aarch64-linux-gnu/libflann_cpp.so.<span class="number">1.9</span>.<span class="number">1</span></span><br><span class="line">/usr/lib/aarch64-linux-gnu/libflann_cpp_s.a</span><br><span class="line">/usr/lib/aarch64-linux-gnu/libflann_s.a</span><br></pre></td></tr></table></figure><br>链接关系:<br>libflann.so<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br></pre></td><td class="code"><pre><span class="line">ldd /usr/lib/aarch64-linux-gnu/libflann.so</span><br><span class="line"> linux-vdso.so.<span class="number">1</span> (<span class="number">0x0000ffff85887000</span>)</span><br><span class="line"> libstdc++.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libstdc++.so.<span class="number">6</span> (<span class="number">0x0000ffff8511b000</span>)</span><br><span class="line"> libm.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libm.so.<span class="number">6</span> (<span class="number">0x0000ffff85070000</span>)</span><br><span class="line"> <span class="comment"># 缺</span></span><br><span class="line"> libgomp.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/libgomp.so.<span class="number">1</span> (<span class="number">0x0000ffff85022000</span>)</span><br><span class="line"></span><br><span class="line"> libgcc_s.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/libgcc_s.so.<span class="number">1</span> (<span class="number">0x0000ffff84ffe000</span>)</span><br><span class="line"> libc.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libc.so.<span class="number">6</span> (<span class="number">0x0000ffff84e8b000</span>)</span><br><span class="line"> /lib/ld-linux-aarch64.so.<span class="number">1</span> (<span class="number">0x0000ffff85857000</span>)</span><br><span class="line"> <span class="comment"># 目前缺这两个</span></span><br><span class="line"> libdl.so.<span class="string">2 =></span> /lib/aarch64-linux-gnu/libdl.so.<span class="number">2</span> (<span class="number">0x0000ffff84e77000</span>)</span><br><span class="line"> libpthread.so.<span class="string">0 =></span> /lib/aarch64-linux-gnu/libpthread.so.<span class="number">0</span> (<span class="number">0x0000ffff84e46000</span>)</span><br><span class="line"></span><br><span class="line"></span><br><span class="line">ldd /usr/lib/aarch64-linux-gnu/libflann_cpp.so</span><br><span class="line"> linux-vdso.so.<span class="number">1</span> (<span class="number">0x0000ffff9fb1f000</span>)</span><br><span class="line"> <span class="comment"># 目前需要交叉编译</span></span><br><span class="line"> liblz4.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/liblz4.so.<span class="number">1</span> (<span class="number">0x0000ffff9fa68000</span>)</span><br><span class="line"> libstdc++.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libstdc++.so.<span class="number">6</span> (<span class="number">0x0000ffff9f883000</span>)</span><br><span class="line"> <span class="comment"># 目前缺</span></span><br><span class="line"> libpthread.so.<span class="string">0 =></span> /lib/aarch64-linux-gnu/libpthread.so.<span class="number">0</span> (<span class="number">0x0000ffff9f852000</span>)</span><br><span class="line"> libc.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libc.so.<span class="number">6</span> (<span class="number">0x0000ffff9f6df000</span>)</span><br><span class="line"> /lib/ld-linux-aarch64.so.<span class="number">1</span> (<span class="number">0x0000ffff9faef000</span>)</span><br><span class="line"> libm.so.<span class="string">6 =></span> /lib/aarch64-linux-gnu/libm.so.<span class="number">6</span> (<span class="number">0x0000ffff9f634000</span>)</span><br><span class="line"> libgcc_s.so.<span class="string">1 =></span> /lib/aarch64-linux-gnu/libgcc_s.so.<span class="number">1</span> </span><br></pre></td></tr></table></figure></p>
<p>如果之前缺hdf5，编译会报警 hdf5 library not found, not compiling flann_example.cpp</p>
<p>解决方法: 把ARM平台的的flann库文件复制到了 <code>/usr/lib/x86_64-linux-gnu</code>，原来的x86的flann库文件复制到了新文件夹 <code>/usr/lib/x86_64-linux-gnu/x86_flann</code></p>
<p>如果要交叉编译，需要修改<code>CMakeLists</code>:<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br></pre></td><td class="code"><pre><span class="line">pkg_check_modules(LZ4 REQUIRED liblz4)</span><br><span class="line"><span class="comment">#include_directories(${LZ4_INCLUDE_DIRS})</span></span><br><span class="line">include_directories(<span class="regexp">/home/us</span>er/Downloads/lz4-<span class="number">1.9</span>.<span class="number">1</span>/lz4_arm/include)</span><br><span class="line"></span><br><span class="line">link_directories(<span class="regexp">/home/us</span>er/Downloads/lz4-<span class="number">1.9</span>.<span class="number">1</span>/lz4_arm/lib)</span><br></pre></td></tr></table></figure></p>
<hr>
<p>现在继续使用<code>cmake-gui</code>交叉编译PCL，在界面中没有选择所有模块，执行<code>Configure</code>和<code>Generate</code>后，会有日志:<br><figure class="highlight sh"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br></pre></td><td class="code"><pre><span class="line">编译的模块:</span><br><span class="line"> common kdtree octree search</span><br><span class="line"> sample_consensus filters 2d</span><br><span class="line"> geometry io features ml</span><br><span class="line"> segmentation surface keypoints</span><br><span class="line"> tracking stereo tools</span><br><span class="line"></span><br><span class="line">不会编译的模块:</span><br><span class="line"> visualization: VTK was not found.</span><br><span class="line"> registration: Disabled manually.</span><br><span class="line"> recognition: Requires registration.</span><br><span class="line"> apps: Disabled: registration missing.</span><br><span class="line"> outofcore: Requires visualization.</span><br><span class="line"> examples: Code examples are disabled by default.</span><br><span class="line"> people: Requires visualization.</span><br><span class="line"> simulation: Disabled: visualization missing.</span><br><span class="line"> global_tests: No reason</span><br><span class="line"> tools: Disabled: registration missing.</span><br></pre></td></tr></table></figure></p>
<p>然后去build文件夹找每个模块的Makefile，比如<code>pcl-pcl-1.10.0/build/kdtree</code>，然后执行<code>make</code>即可。</p>
<p>PCL交叉编译得到的so文件特别大，有的到了800M。使用strip瘦身，结果报错 <font size=4 color="orange"> strip: Unable to recognise the format of the input file </font>，因为so文件是aarch64的，应当使用<code>gcc-ubuntu-9.3.0-2020.03-x86_64-aarch64-linux-gnu/aarch64-linux-gnu/bin/strip</code>，结果让<code>libpcl_features.so.1.10.0</code>从797M 下降到 39M。</p>
<p>所有编译生成的库文件在<code>pcl-pcl-1.10.0/build/lib</code>，把这些库文件放到开发板上，比如路径<code>/pcl_libs</code>，所有Boost的库文件也放过去，比如<code>/boost_libs</code>。</p>
<p><br></p>
<h2 id="测试程序"><a href="#测试程序" class="headerlink" title="测试程序"></a>测试程序</h2><p>在本机上写一个PCL的测试程序，CMake部分:<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br></pre></td><td class="code"><pre><span class="line">cmake_minimum_required(VERSION <span class="number">3.5</span>)</span><br><span class="line"></span><br><span class="line">project(test_cross_pcl LANGUAGES CXX)</span><br><span class="line"></span><br><span class="line">set(CMAKE_CXX_STANDARD <span class="number">14</span>)</span><br><span class="line">set(CMAKE_CXX_STANDARD_REQUIRED ON)</span><br><span class="line"></span><br><span class="line">find_package(Boost COMPONENTS <span class="keyword">system</span> filesystem thread REQUIRED)</span><br><span class="line"></span><br><span class="line">include_directories(</span><br><span class="line"> include</span><br><span class="line"> /usr/include/eigen3</span><br><span class="line"></span><br><span class="line"> /home/user/Downloads/pcl-pcl-<span class="number">1.10</span>.<span class="number">0</span>/common/include</span><br><span class="line"> /home/user/Downloads/pcl-pcl-<span class="number">1.10</span>.<span class="number">0</span>/build/include</span><br><span class="line"> /home/user/Downloads/pcl-pcl-<span class="number">1.10</span>.<span class="number">0</span>/io/include</span><br><span class="line"> /home/user/Downloads/pcl-pcl-<span class="number">1.10</span>.<span class="number">0</span>/filters/include</span><br><span class="line">)</span><br><span class="line">LINK_DIRECTORIES(<span class="regexp">/home/us</span>er/Downloads/pcl-pcl-<span class="number">1.10</span>.<span class="number">0</span>/build/lib)</span><br><span class="line">LINK_DIRECTORIES(<span class="regexp">/home/us</span>er/toolschain/gcc-ubuntu-<span class="number">9.3</span>.<span class="number">0</span>-<span class="number">2020.03</span>-x86_64-aarch64-linux-gnu/aarch64-linux-gnu/lib)</span><br><span class="line"></span><br><span class="line">add_executable(test_cross_pcl main.cpp)</span><br><span class="line">target_link_libraries(test_cross_pcl</span><br><span class="line"> -lpcl_common</span><br><span class="line"> -lpcl_io</span><br><span class="line"> -lpcl_filters</span><br><span class="line"> -lpthread</span><br><span class="line">)</span><br></pre></td></tr></table></figure><br>不能使用本机上的编译器，还用<code>cmake-gui</code>进行交叉编译: configure, generate, 然后到对应的build文件夹里执行<code>make</code>，把生成的可执行文件放到开发板。</p>
<p>执行<code>export LD_LIBRARY_PATH=/pcl_libs:/boost_libs:$LD_LIBRARY_PATH</code>，也就是指定链接库的地址，再执行就成功了。</p>
<p>参考:<a target="_blank" rel="noopener" href="https://www.cnblogs.com/kezunlin/p/11836252.html">Windows 10上源码编译PCL 1.8.1支持VTK和QT，可视化三维点云</a><br><a target="_blank" rel="noopener" href="https://blog.csdn.net/qq_29414731/article/details/133487825?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_baidulandingword~default-4-133487825-blog-88745954.235^v43^pc_blog_bottom_relevance_base7&spm=1001.2101.3001.4242.3&utm_relevant_index=5">交叉编译Boost</a></p>
<p><a target="_blank" rel="noopener" href="https://www.cnblogs.com/oloroso/p/14606052.html">解决vcpkg无法交叉编译arm64版本 HDF5 库的问题</a><br><a target="_blank" rel="noopener" href="https://www.cnblogs.com/xiaomaixiaomai/p/16179343.html">编译HDF5</a><br><a target="_blank" rel="noopener" href="https://blog.csdn.net/luoying_1993/article/details/53228473?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_baidulandingword~default-1-53228473-blog-134309819.235^v43^pc_blog_bottom_relevance_base7&spm=1001.2101.3001.4242.2&utm_relevant_index=2">Linux安装HDF5及遇到的问题总结</a></p>
<p><a target="_blank" rel="noopener" href="https://blog.csdn.net/Wang_xm_wss/article/details/128809568">FLANN 1.9.2 源码编译</a><br><a target="_blank" rel="noopener" href="https://blog.csdn.net/CC977/article/details/130719649">PCL与VTK</a></p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/06/13/C++/C++%20%20%E5%9F%BA%E7%A1%80/%E5%88%A4%E6%96%AD%E6%96%87%E4%BB%B6%E6%98%AF%E5%90%A6%E5%AD%98%E5%9C%A8/">判断文件是否存在</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-06-13</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/C/">C++</a><i class="fa fa-angle-right" aria-hidden="true"></i><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/C/C-%E5%9F%BA%E7%A1%80/">C++ 基础</a></span><div class="content"><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br></pre></td><td class="code"><pre><span class="line"><span class="meta">#<span class="meta-keyword">include</span> <span class="meta-string"><fstream></span></span></span><br><span class="line"></span><br><span class="line"><span class="function">std::ifstream <span class="title">fin</span><span class="params">(file_name)</span></span>;</span><br><span class="line"><span class="keyword">if</span> (!fin) {</span><br><span class="line"> <span class="built_in">printf</span>(<span class="string">"file not exist"</span>);</span><br><span class="line"> <span class="keyword">return</span> <span class="literal">false</span>;</span><br><span class="line">}</span><br><span class="line">fin.<span class="built_in">close</span>();</span><br></pre></td></tr></table></figure>
<hr>
<p>C++17中有<code>std::filesystem::path</code>，相当于Boost的<code>filesystem</code>模块，只需要<code>set(CMAKE_CXX_STANDARD 17)</code><br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br><span class="line">38</span><br><span class="line">39</span><br><span class="line">40</span><br><span class="line">41</span><br><span class="line">42</span><br><span class="line">43</span><br><span class="line">44</span><br><span class="line">45</span><br><span class="line">46</span><br><span class="line">47</span><br><span class="line">48</span><br><span class="line">49</span><br><span class="line">50</span><br><span class="line">51</span><br><span class="line">52</span><br><span class="line">53</span><br><span class="line">54</span><br><span class="line">55</span><br><span class="line">56</span><br><span class="line">57</span><br><span class="line">58</span><br><span class="line">59</span><br></pre></td><td class="code"><pre><span class="line"><span class="meta">#<span class="meta-keyword">include</span> <span class="meta-string"><filesystem></span></span></span><br><span class="line"><span class="meta">#<span class="meta-keyword">include</span> <span class="meta-string"><iostream></span></span></span><br><span class="line"><span class="keyword">namespace</span> fs = std::filesystem;</span><br><span class="line"></span><br><span class="line"></span><br><span class="line"><span class="function"><span class="keyword">int</span> <span class="title">main</span><span class="params">()</span></span></span><br><span class="line"><span class="function"></span>{</span><br><span class="line"> std::<span class="function">filesystem::path <span class="title">test_path</span><span class="params">(<span class="string">"/home/user/test.yaml"</span>)</span></span>;</span><br><span class="line"> <span class="comment">//判断路径是否存在</span></span><br><span class="line"> std::cout << <span class="string">"is_exist = "</span> << std::filesystem::<span class="built_in">exists</span>(test_path) << std::endl;</span><br><span class="line"></span><br><span class="line"> <span class="comment">// 判断路径为绝对路径还是相对路径</span></span><br><span class="line"> std::cout << <span class="string">"is_abs = "</span> << test_path.<span class="built_in">is_absolute</span>() << std::endl;</span><br><span class="line"> std::cout << <span class="string">"is_relative = "</span> << test_path.<span class="built_in">is_relative</span>() << std::endl;</span><br><span class="line"> <span class="comment">// 取得不带扩展名的文件名</span></span><br><span class="line"> std::cout << <span class="string">"stem = "</span> << test_path.<span class="built_in">stem</span>() << std::endl;</span><br><span class="line"> <span class="comment">// 取得扩展名,如果没有,则为空</span></span><br><span class="line"> std::cout << <span class="string">"extension = "</span> << test_path.<span class="built_in">extension</span>() << std::endl;</span><br><span class="line"> <span class="comment">// 取得文件名</span></span><br><span class="line"> std::cout << <span class="string">"filename = "</span> << test_path.<span class="built_in">filename</span>() << std::endl;</span><br><span class="line"></span><br><span class="line"> std::cout << <span class="string">"----------------------------------------"</span> << std::endl;</span><br><span class="line"></span><br><span class="line"> std::<span class="function">filesystem::path <span class="title">test_dir</span><span class="params">(<span class="string">"/home/user/Pictures"</span>)</span></span>;</span><br><span class="line"> <span class="comment">//判断是文件还是文件夹</span></span><br><span class="line"> std::cout << <span class="string">"is_file = "</span> << std::filesystem::<span class="built_in">is_regular_file</span>(test_path) << std::endl;</span><br><span class="line"> std::cout << <span class="string">"is_dir = "</span> << std::filesystem::<span class="built_in">is_directory</span>(test_dir) << std::endl;</span><br><span class="line"></span><br><span class="line"> <span class="comment">//关于路径拼接</span></span><br><span class="line"> std::filesystem::path new_path = test_dir / <span class="string">"test.txt"</span>;</span><br><span class="line"> std::cout << <span class="string">"new_path = "</span> << new_path << std::endl;</span><br><span class="line"></span><br><span class="line"> <span class="comment">//取得当前绝对工作路径 编译后可执行文件的路径文件夹</span></span><br><span class="line"> std::filesystem::path workPath = std::filesystem::<span class="built_in">current_path</span>();</span><br><span class="line"> std::cout << <span class="string">"current exe path = "</span> << workPath << std::endl;</span><br><span class="line"></span><br><span class="line"> <span class="comment">//递归遍历指定路径下所有文件,文件夹名字也会返回</span></span><br><span class="line"> std::<span class="function">filesystem::recursive_directory_iterator <span class="title">iterDir</span><span class="params">(test_dir)</span></span>;</span><br><span class="line"> <span class="keyword">for</span> (<span class="keyword">auto</span> &it: iterDir)</span><br><span class="line"> {</span><br><span class="line"> <span class="comment">//打印绝对路径</span></span><br><span class="line"> std::cout << it << std::endl;</span><br><span class="line"> <span class="comment">// 不打印路径而是打印文件名</span></span><br><span class="line"> std::cout << it.<span class="built_in">path</span>().<span class="built_in">filename</span>() << std::endl;</span><br><span class="line"> }</span><br><span class="line"></span><br><span class="line"> <span class="comment">//给一个相对路径,返回绝对路径</span></span><br><span class="line"> std::<span class="function">filesystem::path <span class="title">path_test</span><span class="params">(<span class="string">"./"</span>)</span></span>;</span><br><span class="line"> std::cout << <span class="string">"abs_path = "</span> << std::filesystem::<span class="built_in">absolute</span>(path_test) << std::endl;</span><br><span class="line"></span><br><span class="line"></span><br><span class="line"> <span class="comment">// 删除文件, 路径不存在不报错</span></span><br><span class="line"><span class="comment">// std::filesystem::remove(test_dir / "deepfakes"/"yolov7.pdf");</span></span><br><span class="line"></span><br><span class="line"> <span class="comment">// 拷贝文件夹, 删除文件夹</span></span><br><span class="line"><span class="comment">// std::filesystem::copy(test_dir, test_dir.parent_path() / "works", std::filesystem::copy_options::recursive);</span></span><br><span class="line"><span class="comment">// std::filesystem::remove_all(test_dir.parent_path() / "works");</span></span><br><span class="line"> <span class="keyword">return</span> <span class="number">0</span>;</span><br><span class="line">}</span><br></pre></td></tr></table></figure></p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/06/03/%E7%AC%AC%E4%B8%89%E6%96%B9%E5%BA%93/yaml-cpp%E7%9A%84%E4%BD%BF%E7%94%A8/">yaml-cpp的使用</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-06-03</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/%E7%AC%AC%E4%B8%89%E6%96%B9%E5%BA%93/">第三方库</a></span><div class="content"><p>使用<code>yaml-cpp</code>读文件<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br></pre></td><td class="code"><pre><span class="line">YAML::Node gps_root;</span><br><span class="line"><span class="keyword">try</span> {</span><br><span class="line"> gps_root = YAML::<span class="built_in">LoadFile</span>(<span class="string">"/home/user/111.yaml"</span>);</span><br><span class="line">} <span class="built_in"><span class="keyword">catch</span></span> (YAML::ParserException &ex) {</span><br><span class="line"> std::cerr << <span class="string">"gps.yaml parse failed: "</span> << ex.<span class="built_in">what</span>() << std::endl;</span><br><span class="line"> <span class="built_in">exit</span>(<span class="number">-1</span>);</span><br><span class="line">} <span class="built_in"><span class="keyword">catch</span></span> (YAML::BadFile &ex) {</span><br><span class="line"> std::cerr << <span class="string">"gps.yaml load failed: "</span> << ex.<span class="built_in">what</span>() << std::endl;</span><br><span class="line"> <span class="built_in">exit</span>(<span class="number">-1</span>);</span><br><span class="line">}</span><br></pre></td></tr></table></figure></p>
<p>所用函数的源码:<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br></pre></td><td class="code"><pre><span class="line"><span class="function">Node <span class="title">LoadFile</span><span class="params">(<span class="keyword">const</span> std::string& filename)</span> </span>{</span><br><span class="line"> <span class="function">std::ifstream <span class="title">fin</span><span class="params">(filename.c_str())</span></span>;</span><br><span class="line"> <span class="keyword">if</span> (!fin) {</span><br><span class="line"> <span class="keyword">throw</span> <span class="built_in">BadFile</span>();</span><br><span class="line"> }</span><br><span class="line"> <span class="keyword">return</span> <span class="built_in">Load</span>(fin);</span><br><span class="line">}</span><br><span class="line"></span><br><span class="line"><span class="function">Node <span class="title">Load</span><span class="params">(std::istream& input)</span></span></span><br><span class="line"><span class="function"></span>{</span><br><span class="line"> <span class="function">Parser <span class="title">parser</span><span class="params">(input)</span></span>;</span><br><span class="line"> NodeBuilder builder;</span><br><span class="line"> <span class="keyword">if</span> (!parser.<span class="built_in">HandleNextDocument</span>(builder)) {</span><br><span class="line"> <span class="keyword">return</span> <span class="built_in">Node</span>();</span><br><span class="line"> }</span><br><span class="line"></span><br><span class="line"> <span class="keyword">return</span> builder.<span class="built_in">Root</span>();</span><br><span class="line">}</span><br></pre></td></tr></table></figure><br>如果读文件失败，会抛出异常，不会运行到<code>Load</code>，所以无法用<code>IsDefined</code>函数判断是否读文件成功。</p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/05/28/%E7%AC%AC%E4%B8%89%E6%96%B9%E5%BA%93/ZeroMQ%E7%9A%84%E5%AD%A6%E4%B9%A0/">ZeroMQ的学习</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-05-28</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/%E7%AC%AC%E4%B8%89%E6%96%B9%E5%BA%93/">第三方库</a></span><div class="content"><p>使用<code>zmqpp-4.2.0</code>，但是用函数<code>zmq_version</code>发现版本是 4.3.4</p>
<h2 id="ZeroMQ在CMake的设置"><a href="#ZeroMQ在CMake的设置" class="headerlink" title="ZeroMQ在CMake的设置"></a>ZeroMQ在CMake的设置</h2><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br></pre></td><td class="code"><pre><span class="line">cmake_minimum_required(VERSION <span class="number">3.5</span>)</span><br><span class="line"></span><br><span class="line">project(untitled LANGUAGES CXX)</span><br><span class="line"></span><br><span class="line">set(CMAKE_CXX_STANDARD <span class="number">11</span>)</span><br><span class="line">set(CMAKE_CXX_STANDARD_REQUIRED ON)</span><br><span class="line"></span><br><span class="line">include_directories(zmqpp-<span class="number">4.2</span>.<span class="number">0</span>/src/zmqpp)</span><br><span class="line">LINK_DIRECTORIES(zmqpp-<span class="number">4.2</span>.<span class="number">0</span>/lib/)</span><br><span class="line"></span><br><span class="line">add_executable(untitled main.cpp)</span><br><span class="line">target_link_libraries(untitled zmq)</span><br></pre></td></tr></table></figure>
<h2 id="查看版本"><a href="#查看版本" class="headerlink" title="查看版本"></a>查看版本</h2><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br></pre></td><td class="code"><pre><span class="line"><span class="meta">#<span class="meta-keyword">include</span> <span class="meta-string"><stdio.h></span></span></span><br><span class="line"><span class="meta">#<span class="meta-keyword">include</span> <span class="meta-string"><zmq.h></span></span></span><br><span class="line"><span class="comment">// 显示当前的zeromq版本</span></span><br><span class="line"><span class="function"><span class="keyword">int</span> <span class="title">main</span><span class="params">()</span></span></span><br><span class="line"><span class="function"></span>{</span><br><span class="line"> <span class="keyword">int</span> major, minor, patch;</span><br><span class="line"> <span class="built_in">zmq_version</span>(&major, &minor, &patch);</span><br><span class="line"> <span class="built_in">printf</span>(<span class="string">"Current ZeroMQ version is %d.%d.%d\n"</span>, major, minor, patch);</span><br><span class="line">}</span><br></pre></td></tr></table></figure>
<h2 id="发布和订阅"><a href="#发布和订阅" class="headerlink" title="发布和订阅"></a>发布和订阅</h2><p>pub端:</p>
<ul>
<li>创建context</li>
<li>创建socket，设置<code>ZMQ_PUB</code>模式</li>
<li>bind端口</li>
<li>循环发布消息send</li>
</ul>
<p>sub端:</p>
<ul>
<li>创建context</li>
<li>创建socket，设置<code>ZMQ_SUB</code>模式</li>
<li>connect到pub端</li>
<li><code>setsockopt</code>设置<code>ZMQ_SUBSCRIBE</code>订阅的消息</li>
<li>循环接收recv</li>
</ul>
<p>注意事项:</p>
<ol>
<li>我们在pub中<code>bind</code>，在sub中<code>connect</code>，在zmq的使用中无论是在pub还是sub中都可以bind，但是一般我们在pub中bind，在sub中<code>connect</code>。反之sub端可能收不到消息</li>
<li><code>zmq_setsockopt</code> – 设置zmq的socket属性，sub端必须使用此方法，否则是收不到消息的。</li>
<li>pub端不能使用recv函数，sub端不能使用send函数</li>
<li>pub端socket的zmq_send()函数永远不会阻塞</li>
</ol>
<h3 id="zmq-msg-init-size"><a href="#zmq-msg-init-size" class="headerlink" title="zmq_msg_init_size"></a>zmq_msg_init_size</h3><p>使用一个指定的空间大小初始化ZMQ消息对象。原型<code>int zmq_msg_init_size (zmq_msg_t *msg, size_t size);</code></p>
<p>分配任何被请求的资源来存储一个size大小字节的消息，并且初始化msg参数指定的消息，用来表示新分配到的消息。</p>
<p>在函数执行的时候，会选择是否把消息存储在栈里面（小消息），还是堆里面（大消息）。考虑到性能原因，函数不会清除消息数据。</p>
<p>永远不要直接对<code>zmq_msg_t</code>对象进行直接操作，而是要使用<code>zmq_msg</code>函数族进行操作。</p>
<p><code>zmq_msg_init()</code>, <code>zmq_msg_init_data()</code>和<code>zmq_msg_init_size()</code>这三个函数是互斥的。永远不要把一个<code>zmq_msg_t</code>对象初始化两次。</p>
<p>执行成功时返回0。否则返回 -1，并且设置errno的值为下列定义的值。</p>
<h3 id="zmq-msg-data"><a href="#zmq-msg-data" class="headerlink" title="zmq_msg_data"></a>zmq_msg_data</h3><p>原型<code>void *zmq_msg_data (zmq_msg_t *msg);</code> 返回msg参数指定的消息内容的指针。</p>
<p>函数执行成功返回0，否则返回 -1</p>
<p>参考:<br><a target="_blank" rel="noopener" href="https://blog.csdn.net/guotianqing/article/details/101429319?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-101429319-blog-127110153.235%5Ev43%5Epc_blog_bottom_relevance_base4&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-101429319-blog-127110153.235%5Ev43%5Epc_blog_bottom_relevance_base4&utm_relevant_index=2">zmq pub/sub使用详解</a></p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/05/28/%E7%AC%AC%E4%B8%89%E6%96%B9%E5%BA%93/proto%E5%9F%BA%E6%9C%AC%E4%BD%BF%E7%94%A8/">proto基本使用</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-05-28</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/%E7%AC%AC%E4%B8%89%E6%96%B9%E5%BA%93/">第三方库</a></span><div class="content"><h2 id="安装"><a href="#安装" class="headerlink" title="安装"></a>安装</h2><p>安装Protobuf需要两个zip文件，以 3.0.0 为例，到<a target="_blank" rel="noopener" href="https://github.com/protocolbuffers/protobuf/releases/tag/v3.0.0">github下载页面</a>下载 <code>protoc-3.0.0-linux-x86_64.zip</code> 和 <code>protobuf-cpp-3.0.0.zip</code></p>
<p>安装前者:<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment"># Unzip</span></span><br><span class="line">unzip protoc-<span class="number">3.2</span>.<span class="number">0</span>-linux-x86_64.zip -d protoc3</span><br><span class="line"></span><br><span class="line">sudo mv protoc3/bin/* <span class="regexp">/usr/l</span>ocal/bin/</span><br><span class="line"></span><br><span class="line">sudo mv protoc3/include/* <span class="regexp">/usr/l</span>ocal/include/</span><br><span class="line"></span><br><span class="line"><span class="comment"># change owner，也可不执行</span></span><br><span class="line">sudo chwon [user] /usr/<span class="keyword">local</span>/bin/protoc</span><br><span class="line">sudo chwon -R [user] /usr/<span class="keyword">local</span>/include/google</span><br></pre></td></tr></table></figure></p>
<p>再安装后者<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment"># 解压后执行</span></span><br><span class="line">./autogen.sh</span><br><span class="line"></span><br><span class="line">./configure <span class="comment"># 或者 ./configure --prefix=/usr</span></span><br><span class="line"></span><br><span class="line">make</span><br><span class="line">sudo make install</span><br><span class="line">sudo ldconfig</span><br><span class="line"></span><br><span class="line">protoc --version</span><br><span class="line"><span class="comment"># 输出：libprotoc 3.0.0</span></span><br><span class="line"></span><br><span class="line">locate libprotobuf.so</span><br></pre></td></tr></table></figure></p>
<p><br></p>
<p>所用protobuf的版本是 3.12.4</p>
<p><code>Test.proto</code>文件:<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br></pre></td><td class="code"><pre><span class="line">syntax = <span class="string">"proto3"</span>;</span><br><span class="line"><span class="comment">// 包名:在生成对应的C++文件时，将被替换为名称空间，在代码中会有体现</span></span><br><span class="line">package Test; </span><br><span class="line"></span><br><span class="line">message Pose {</span><br><span class="line"> <span class="keyword">float</span> x = <span class="number">1</span>;</span><br><span class="line"> <span class="keyword">float</span> y = <span class="number">2</span>;</span><br><span class="line"> <span class="keyword">float</span> yaw = <span class="number">3</span>;</span><br><span class="line">}</span><br></pre></td></tr></table></figure></p>
<p>根据proto文件生成.h 和 .cc文件<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">./protoc --proto_path=<span class="regexp">/home/us</span>er/qt_projects --cpp_out=<span class="regexp">/home/us</span>er/qt_projects/proto_gen /home/user/qt_projects/Test.proto</span><br></pre></td></tr></table></figure><br>简略形式: <code>protoc message.proto --cpp_out=.</code></p>
<p><br></p>
<p>CMake中的配置<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br></pre></td><td class="code"><pre><span class="line">cmake_minimum_required(VERSION <span class="number">3.5</span>)</span><br><span class="line"></span><br><span class="line">project(test_proto LANGUAGES CXX)</span><br><span class="line"></span><br><span class="line">set(CMAKE_CXX_STANDARD <span class="number">11</span>)</span><br><span class="line">set(CMAKE_CXX_STANDARD_REQUIRED ON)</span><br><span class="line"></span><br><span class="line">include_directories(<span class="regexp">/home/us</span>er/zmqpp-<span class="number">4.2</span>.<span class="number">0</span>/src/zmqpp)</span><br><span class="line">include_directories(<span class="regexp">/home/us</span>er/protobuf/src)</span><br><span class="line"></span><br><span class="line">LINK_DIRECTORIES(<span class="regexp">/home/us</span>er/x86/zmqpp-<span class="number">4.2</span>.<span class="number">0</span>/lib/)</span><br><span class="line">LINK_DIRECTORIES(<span class="regexp">/home/us</span>er/x86/protobuf/lib)</span><br><span class="line"><span class="comment"># 上面生成的cc文件</span></span><br><span class="line">add_executable(test_proto main.cpp Test.pb.cc)</span><br><span class="line">target_link_libraries(test_proto zmq protobuf)</span><br></pre></td></tr></table></figure></p>
<p>注意 <code>#include "Test.pb.h"</code></p>
<p>可以这样使用<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line">Test::Pose* pose_msg = <span class="keyword">new</span> Test::<span class="built_in">Pose</span>();</span><br><span class="line">pose_msg-><span class="built_in">set_x</span>(<span class="number">1.5</span>);</span><br><span class="line">pose_msg-><span class="built_in">set_y</span>(<span class="number">2.7</span>);</span><br><span class="line">pose_msg-><span class="built_in">set_yaw</span>(<span class="number">0</span>);</span><br></pre></td></tr></table></figure></p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/05/28/cmake%20qmake/ccache%E5%8A%A0%E9%80%9F%E7%BC%96%E8%AF%91/">ccache加速编译</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-05-28</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/cmake-qmake/">cmake/qmake</a></span><div class="content"><h2 id="ccache"><a href="#ccache" class="headerlink" title="ccache"></a>ccache</h2><p>先使用<code>apt-get install ccache</code>进行安装。</p>
<figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line">sudo vim /etc/environment</span><br><span class="line">PATH=<span class="string">'/usr/lib/ccache:keep the rest'</span></span><br><span class="line"></span><br><span class="line">source /etc/environment</span><br></pre></td></tr></table></figure>
<p>输入<code>which gcc</code>，应该得到<code>/usr/lib/ccache/gcc</code></p>
<p>修改<code>CMakeLists.txt</code><br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line">set(CMAKE_CXX_COMPILER_LAUNCHER ccache)</span><br><span class="line">set(CMAKE_C_COMPILER_LAUNCHER ccache)</span><br></pre></td></tr></table></figure></p>
<p><strong>但是在ROS环境下，没发现起作用</strong></p>
<h2 id="distcc"><a href="#distcc" class="headerlink" title="distcc"></a>distcc</h2><p>Setting up distcc (server)</p>
<p>So, go ahead and install distcc on the server computer (in my case, the desktop)</p>
<p>And then spin up the server. (The following assumes I’m on the 10.8.33.0 subnet, and I’m allowing all hosts on that subnet to send jobs)<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">sudo distccd --<span class="keyword">log</span>-file=<span class="regexp">/tmp/dis</span>tccd.log --daemon -a <span class="number">10.8</span>.<span class="number">33.0</span>/<span class="number">24</span></span><br></pre></td></tr></table></figure><br>Setting up distcc (client) So, now you have to tell ccache to use the distcc distributed compilation servers. To do this, just add the following line to your ~/.bashrc file.<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">export CCACHE_PREFIX=distcc</span><br></pre></td></tr></table></figure><br>Next, we have to tell distcc where to go to find the server. This also, just add to the bottom of your <code>~/.bashrc</code> (my desktop is at 10.8.33.182 and it has 8 cores, my laptop is at localhost and has 4)<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">export DISTCC_HOSTS=<span class="string">'localhost/4 10.8.33.182/8'</span></span><br></pre></td></tr></table></figure></p>
<p><br></p>
<p>在另一个终端，使用下面命令检验ccache的运行效果<br><figure class="highlight perl"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">watch -n1 <span class="string">'ccache -s -v'</span></span><br></pre></td></tr></table></figure><br>或者<code>watch -n1 'ccache --show-stats -v'</code></p>
<p>编译时，使用top看 distcc process starts spooling up its threads.</p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/05/27/%E9%82%A3%E4%BA%9B%E5%8D%A1%E6%88%91%E5%BE%88%E4%B9%85%E7%9A%84bug/Linux%E7%A8%8B%E5%BA%8F%E8%BF%90%E8%A1%8C%E6%97%B6%E8%A2%ABkilled/">Linux程序运行时被killed</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-05-27</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/%E9%82%A3%E4%BA%9B%E5%8D%A1%E6%88%91%E5%BE%88%E4%B9%85%E7%9A%84bug/">那些卡我很久的bug</a></span><div class="content"><p>linux程序运行时突然出现<code>Killed</code>，可以使用<code>dmesg | egrep -i -B100 'killed process</code> 查看原因，输出最近killed的信息。</p>
<p>参考: <a target="_blank" rel="noopener" href="https://juejin.cn/post/7094882813907828773">linux 程序被Killed，查看原因</a></p>
</div><hr></div><div class="recent-post-item article-container"><a class="article-title" href="/2024/05/26/C++/C++%20%20%E5%9F%BA%E7%A1%80/%E6%9C%89%E7%94%A8%E7%9A%84%E7%A8%8B%E5%BA%8F%201/">有用的程序 1</a><time class="post-meta__date"><i class="fa fa-calendar" aria-hidden="true"></i> 2024-05-26</time><span class="article-meta"><span class="article-meta__separator">|</span><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/C/">C++</a><i class="fa fa-angle-right" aria-hidden="true"></i><i class="fa fa-inbox article-meta__icon" aria-hidden="true"></i><a class="article-meta__categories" href="/categories/C/C-%E5%9F%BA%E7%A1%80/">C++ 基础</a></span><div class="content"><ul>
<li>不断判断随机数的大小，如果它能大于某个值维持一段时间，输出时间，否则重新计时。</li>
</ul>
<figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br></pre></td><td class="code"><pre><span class="line"><span class="function"><span class="keyword">int</span> <span class="title">main</span><span class="params">()</span></span></span><br><span class="line"><span class="function"></span>{</span><br><span class="line"> <span class="keyword">int</span> num = <span class="number">0</span>;</span><br><span class="line"> <span class="keyword">int</span> count = <span class="number">0</span>;</span><br><span class="line"> std::chrono::steady_clock::time_point start, end;</span><br><span class="line"> <span class="keyword">double</span> duration;</span><br><span class="line"></span><br><span class="line"> <span class="keyword">while</span>(<span class="number">1</span>)</span><br><span class="line"> {</span><br><span class="line"> std::<span class="built_in">srand</span>(<span class="built_in">time</span>(<span class="number">0</span>));</span><br><span class="line"> count = <span class="built_in">rand</span>() % <span class="number">1000000</span>;</span><br><span class="line"> <span class="keyword">if</span>(count > <span class="number">680000</span>)</span><br><span class="line"> {</span><br><span class="line"> <span class="keyword">if</span>(num==<span class="number">0</span>)</span><br><span class="line"> start = std::chrono::steady_clock::<span class="built_in">now</span>();</span><br><span class="line"></span><br><span class="line"> num++;</span><br><span class="line"> end = std::chrono::steady_clock::<span class="built_in">now</span>();</span><br><span class="line"> duration = std::chrono::duration<<span class="keyword">double</span>>(end - start).<span class="built_in">count</span>();</span><br><span class="line"> cout << <span class="string">"count: "</span> << count << endl;</span><br><span class="line"> cout << <span class="string">"time elapsed "</span> << <span class="keyword">static_cast</span><<span class="keyword">int</span>>(duration) << endl;</span><br><span class="line"> }</span><br><span class="line"> <span class="keyword">else</span></span><br><span class="line"> {</span><br><span class="line"> duration = <span class="number">0</span>;</span><br><span class="line"> num = <span class="number">0</span>;</span><br><span class="line"> cout << endl;</span><br><span class="line"> }</span><br><span class="line"> }</span><br><span class="line"> <span class="keyword">return</span> <span class="number">0</span>;</span><br><span class="line">}</span><br></pre></td></tr></table></figure>
<ul>
<li>判断一个点是否在多边形中</li>
</ul>
<p>opencv函数: <code>double pointPolygonTest(InputArray contour, Point2f pt, bool measureDist)</code></p>
<p>当<code>measureDist</code>设置为true时，返回实际距离值。若返回值为正，表示点在多边形内部，返回值为负，表示在多边形外部，返回值为0，表示在多边形上。<br>当measureDist设置为false时，返回 -1、0、1三个固定值。若返回值为+1，表示点在多边形内部，返回值为-1，表示在多边形外部，返回值为0，表示在多边形上。</p>
<ul>
<li>计算点到直线的距离</li>
</ul>
<figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">/*</span></span><br><span class="line"><span class="comment"> * @tparam T point type</span></span><br><span class="line"><span class="comment"> * @param first Given the starting point of a line segment</span></span><br><span class="line"><span class="comment"> * @param last The endpoint of a given line segment</span></span><br><span class="line"><span class="comment"> * @param third Given point</span></span><br><span class="line"><span class="comment"> * @return T Distance from point to line</span></span><br><span class="line"><span class="comment"> */</span></span><br><span class="line"><span class="keyword">template</span> <<span class="keyword">typename</span> T></span><br><span class="line"><span class="function"><span class="keyword">static</span> T <span class="title">PointToLineDistance</span><span class="params">(<span class="keyword">const</span> Point<T>& first, <span class="keyword">const</span> Point<T>& last, <span class="keyword">const</span> Point<T>& third)</span> </span>{</span><br><span class="line"> <span class="keyword">float</span> dis_suqare =</span><br><span class="line"> ((first.y - last.y) * third.x + (last.x - first.x) * third.y +</span><br><span class="line"> (first.x * last.y - last.x * first.y)) *</span><br><span class="line"> ((first.y - last.y) * third.x + (last.x - first.x) * third.y +</span><br><span class="line"> (first.x * last.y - last.x * first.y)) /</span><br><span class="line"> ((last.x - first.x) * (last.x - first.x) + (last.y - first.y) * (last.y - first.y));</span><br><span class="line"> <span class="keyword">return</span> std::<span class="built_in">sqrt</span>(dis_suqare);</span><br><span class="line">}</span><br></pre></td></tr></table></figure>
<ul>
<li>求图形的外接圆</li>
</ul>
<p><a target="_blank" rel="noopener" href="https://blog.csdn.net/dcrmg/article/details/52260699">OpenCV绘制最小外接矩形、最小外接圆</a><br><a target="_blank" rel="noopener" href="https://blog.csdn.net/Galen_xia/article/details/123407743">pointPolygonTest函数</a></p>
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