20210816, point2d delete pcl.h

CMakeLists.txt

@@ -8,16 +8,16 @@ find_package(PkgConfig REQUIRED)
 pkg_check_modules(nanomsg REQUIRED nanomsg)
 FIND_PACKAGE(Protobuf REQUIRED)
 #FIND_PACKAGE(Glog REQUIRED)
-FIND_PACKAGE(OpenCV REQUIRED)
-FIND_PACKAGE(PCL REQUIRED)
+#FIND_PACKAGE(OpenCV REQUIRED)
+#FIND_PACKAGE(PCL REQUIRED)
 
 
 MESSAGE(WARN "pcl:: ${PCL_INCLUDE_DIRS} --- ${PCL_LIBRARIES}")
 include_directories(
         /usr/local/include
 		/usr/local/include/snap7
-        ${PCL_INCLUDE_DIRS}
-        ${OpenCV_INCLUDE_DIRS}
+#        ${PCL_INCLUDE_DIRS}
+#        ${OpenCV_INCLUDE_DIRS}
         ${PROTOBUF_INCLUDE_DIRS}
         laser
         Locate
@@ -82,9 +82,9 @@ target_link_libraries(terminal
         nanomsg
 
         ${PROTOBUF_LIBRARIES}
-        ${OpenCV_LIBS}
+#        ${OpenCV_LIBS}
         ${GLOG_LIBRARIES}
-        ${PCL_LIBRARIES}
+#        ${PCL_LIBRARIES}
         ${PROTOBUF_LIBRARIES}
 
 #        libtensorflow_cc.so

tool/point2D_tool.cpp

@@ -82,7 +82,7 @@ bool Point2D_tool::limit_with_point2D_box(float x, float y, Point2D_tool::Point2
 	}
 	return true;
 }
-
+#ifdef OPEN_PCL_FLAG
 //平面坐标的转换, 可以进行旋转和平移, 不能缩放
 bool Point2D_tool::transform_with_translation_rotation(float* p_x_in, float* p_y_in, float* p_x_out, float* p_y_out,
 										 Point2D_tool::Point2D_transform* p_point2D_transform)
@@ -137,3 +137,4 @@ bool Point2D_tool::transform_with_translation_rotation(pcl::PointCloud<pcl::Poin
 	}
 	return true;
 }
+#endif

tool/point2D_tool.h

@@ -5,10 +5,18 @@
 #ifndef POINT2D_TOOL_H
 #define POINT2D_TOOL_H
 
+
+
+//#define OPEN_PCL_FLAG
+#ifdef OPEN_PCL_FLAG
 #include <pcl/point_types.h>
 #include <pcl/PCLPointCloud2.h>
 #include <pcl/conversions.h>
 #include <pcl/common/common.h>
+#endif
+
+#include <stddef.h>
+#include <math.h>
 
 class Point2D_tool
 {
@@ -67,6 +75,7 @@ public:
 	//判断平面坐标点是否在限制范围
 	static bool limit_with_point2D_box(float x, float y, Point2D_tool::Point2D_box* p_point2D_box);
 
+#ifdef OPEN_PCL_FLAG
 	//平面坐标的转换, 可以进行旋转和平移, 不能缩放
 	static bool transform_with_translation_rotation(float* p_x_in, float* p_y_in, float* p_x_out, float* p_y_out,
 													Point2D_tool::Point2D_transform* p_point2D_transform);
@@ -75,6 +84,8 @@ public:
 	static bool transform_with_translation_rotation(pcl::PointCloud<pcl::PointXYZ>::Ptr p_cloud_in,
 													pcl::PointCloud<pcl::PointXYZ>::Ptr p_cloud_out,
 													Point2D_tool::Point2D_transform* p_point2D_transform);
+
+#endif
 };