树莓派官方系统（Raspberry Pi）在线安装PCL并验证

安装方式：在线安装

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-dev  # 或 libpcl-all

 下载时间较长，耐心等待。

文件结构如下图所示：

 操作步骤如下图所示：

 

 生成可执行文件pcd_write，如红框所示。

验证：

编辑源码：

// 创建文件夹
mkdir PCL
// 进入文件夹
cd PCL/
// 创建cpp文件并编辑
vim pcl_write.cpp

将代码复制进pcl_write.cpp

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>

int
main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud;

	// fill in the cloud data
	cloud.width = 5;
	cloud.height = 1;
	cloud.is_dense = false;

	cloud.resize(cloud.width * cloud.height);

	for (auto& point : cloud)
	{
		point.x = 1024 * rand() / (RAND_MAX + 1.0f);
		point.y = 1024 * rand() / (RAND_MAX + 1.0f);
		point.z = 1024 * rand() / (RAND_MAX + 1.0f);

	}

	pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);
	std::cerr << "Saved" << cloud.size() << "data points to test_pcd.pcd" << std::endl;

	for (const auto& point : cloud)
		std::cerr << "  " << point.x << "  " << point.y << "  " << point.z << std::endl;
// int i = 1;
//  for (i = 1; i < 5; i++)
// {
//      
//		std::cerr << cloud.points[i].x << "   " << cloud.points[i].y << "   " << 
        cloud.points[i].z << std::endl;
//  }
	return(0);
}

 编辑CMakeLists.txt:

// 创建CMakeLists.txt文件并编辑
vim CMakeLists.txt

将以下内容复制进CMakeLists.txt

project(pcd_write)

find_package(PCL 1.2 REQUIRED)
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (pcd_write pcd_write.cpp)
target_link_libraries (pcd_write ${PCL_LIBRARIES})

创建build并编译： 

// 创建build文件夹并编译
mkdir build
cd build
cmake ..

结果如下：

-- Configuring done
-- Generating done
-- Build files have been written to: /home/pi0204/PCL/build

make编译：

Scanning dependencies of target pcd_write
[ 50%] Building CXX object CMakeFiles/pcd_write.dir/pcd_write.cpp.o
[100%] Linking CXX executable pcd_write
[100%] Built target pcd_write

执行可执行文件：

./pcd_write

结果如下图所示：

 安装成功！