oneapi_pcl_icp

本工程是用来表明 oneapi pcl 工程里的一个问题，在使用 oneapi pcl 过程中，如果先链接 pcl native 库，再链接 pcl oneapi 库，那么就会产生错误

terminate called after throwing an instance of 'flann::FLANNException'
  what():  Unknown index type
Aborted (core dumped)

但是如果先链接 pcl oneapi 库，再链接 pcl native 库，那么就不会有问题

Loading test_P.pcd as source and test_Q.pcd as target...
Transform Matrix:
   0.998886   0.0107214   0.0457269   0.0791013
-0.00950723    0.999591  -0.0266714   0.0252342
 -0.0459948   0.0262073    0.998591   0.0676732
          0           0           0           1

How to Build 编译步骤

mkdir build
cd build
cmake ..
make

How to run 如何运行

cd build
make run

How to switch good and bad version 如何切换好坏两个版本

只要修改 CMakeLists.txt 就可切换两个版本

good version

target_link_libraries ( oneapi_icp_example

                        #pcl_segmentation
                        pcl_oneapi_registration
                        pcl_oneapi_search
                        pcl_oneapi_kdtree
                        pcl_io
                        pcl_segmentation
)

bad version

target_link_libraries ( oneapi_icp_example

                        pcl_segmentation
                        pcl_oneapi_registration
                        pcl_oneapi_search
                        pcl_oneapi_kdtree
                        pcl_io
                        #pcl_segmentation
)