PCL点云项目-配准-ubuntu16.04

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update

会出错：

cd /etc/apt/sources.list.d

sudo mv v-launchpad-jochen-sprickerhof-de-ubuntu-pcl-xenial.list v-launchpad-jochen-sprickerhof-de-ubuntu-pcl-xenial.list.bak

sudo apt-get update

如果说被锁住了，那就重启下再sudo apt-get update

sudo apt-get install libpcl-dev
sudo apt-get install pcl-tools

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
 

https://stackoverflow.com/questions/37369369/compiling-pcl-1-7-on-ubuntu-16-04-errors-in-cmake-generated-makefile

sudo apt-get install libproj-dev

CMakeLists.txt

即在add_executable语句前面加上list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

或者：sudo ln -s /usr/lib/libvtkproj4.so.5.10 /usr/lib/libvtkproj4.so

如果看教程不小心使用了：

sudo apt-get install python-vtk

建议安装：
  mayavi2 vtk-doc vtk-examples
下列软件包将被【卸载】：
  libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6
下列【新】软件包将被安装：
  python-vtk

那么会报错：

CMake Error at CMakeLists.txt:11 (find_package):
  By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "PCL", but
  CMake did not find one.

  Could not find a package configuration file provided by "PCL" (requested
  version 1.7) with any of the following names:

    PCLConfig.cmake
    pcl-config.cmake

  Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"
  to a directory containing one of the above files.  If "PCL" provides a
  separate development package or SDK, be sure it has been installed.

文件在：

/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfigVersion.cmake

/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake

就接着使用：

sudo apt-get install libpcl-dev
sudo apt-get install pcl-tools

boyun@boyun:~/code/deepglint/demo1/build$ sudo apt-get install libpcl-dev
[sudo] boyun 的密码： 
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
下列软件包是自动安装的并且现在不需要了：
  libdbusmenu-gtk4 libmircommon5 libvtk5.10 linux-signed-image-generic tcl-vtk ubuntu-core-launcher
使用'sudo apt autoremove'来卸载它(它们)。
将会同时安装下列软件：
  libvtk6-dev libvtk6-qt-dev python-vtk6
建议安装：
  libpcl-doc vtk6-doc vtk6-examples mayavi2
下列软件包将被【卸载】：
  python-vtk
下列【新】软件包将被安装：
  libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6
升级了 0 个软件包，新安装了 4 个软件包，要卸载 1 个软件包，有 240 个软件包未被升级。

https://blog.csdn.net/yangziluomu/article/details/69525081

https://blog.csdn.net/qq_43145072/article/details/85953948

CMakeLists.txt 

C++11

set(CMAKE_CXX_STANDARD 11) 

# cmake needs this line
cmake_minimum_required(VERSION 2.8)

add_definitions(-std=c++11)

# Define project name
project(pcl_test_project)

#set(PCL_DIR "/usr/share/pcl-1.7/")
find_package(PCL REQUIRED)
#find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
add_executable(pcl_test pcl_test.cpp)
target_link_libraries (pcl_test ${PCL_LIBRARIES})

pcl_test.cpp

#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
 
 
int main(int argc, char **argv) {
    std::cout << "Test PCL !!!" << std::endl;
    
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
      for (float angle(0.0); angle <= 360.0; angle += 5.0)
      {
	pcl::PointXYZRGB point;
	point.x = 0.5 * cosf (pcl::deg2rad(angle));
	point.y = sinf (pcl::deg2rad(angle));
	point.z = z;
	uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
		static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
	point.rgb = *reinterpret_cast<float*>(&rgb);
	point_cloud_ptr->points.push_back (point);
      }
      if (z < 0.0)
      {
	r -= 12;
	g += 12;
      }
      else
      {
	g -= 12;
	b += 12;
      }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;
    
    pcl::visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}

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

int
  main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 1;
  cloud.is_dense = false;
  cloud.points.resize (cloud.width * cloud.height);

  for (std::size_t i = 0; i < cloud.points.size (); ++i)
  {
    cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

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

  for (std::size_t i = 0; i < cloud.points.size (); ++i)
    std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

  return (0);
}

分割线上面是最新的

---

关于环境等：

PCL 1. 51

http://www.pointclouds.org/trunk/modules.html

Ubuntu常规安装：

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

源码安装：

http://pointclouds.org/documentation/tutorials/compiling_pcl_posix.php

https://github.com/PointCloudLibrary/pcl/releases

https://github.com/PointCloudLibrary/pcl/tree/pcl-1.5.1

 

参考

https://www.cnblogs.com/lifeofershisui/p/9037829.html

https://blog.csdn.net/acyddlm/article/details/82974012

https://blog.csdn.net/we1583004we/article/details/79651299

https://blog.csdn.net/D206_hero/article/details/78266113

需要其他库：

Boost  Eigen FLANN VTK

Qhull OpenNI CUDA

设置查找路径：

http://pointclouds.org/documentation/tutorials/using_pcl_pcl_config.php#using-pcl-pcl-config

https://blog.csdn.net/yinxingtianxia/article/details/80267240

set(BOOST_ROOT "/usr/local/boost")

sudo apt-get install pcl-tools都安装了哪些东西

https://packages.ubuntu.com/bionic/pcl-tools

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui 
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

 

Could NOT find GTest (missing: GTEST_LIBRARY GTEST_MAIN_LIBRARY)

sudo apt-get install libgtest-dev

还是会出现：

Could NOT find GTest (missing:  GTEST_LIBRARY GTEST_MAIN_LIBRARY)

sudo apt-get install libgtest-dev
sudo apt-get install cmake # install cmake
cd /usr/src/gtest
sudo cmake CMakeLists.txt
sudo make
#copy or symlink libgtest.a and libgtest_main.a to your /usr/lib folder
sudo cp *.a /usr/lib

-- The imported target "vtkWrapTcl" references the file    "/usr/bin/vtkWrapTcl" but this file does not exist.

sudo apt-get -y install tcl-vtk python-vtk libvtk-java

Could NOT find openni (missing: OPENNI_INCLUDE_DIRS)

sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev

-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
sudo apt-get install doxygen

Could NOT find GTest (missing: GTEST_LIBRARY GTEST_MAIN_LIBRARY)

pcap library not found
sudo apt-get install libpcap-dev

Could NOT find FZAPI   

Could NOT find PXCAPI
Could NOT find Sphinx (missing:  SPHINX_EXECUTABLE) 

make错误：

https://github.com/kalakris/stomp/issues/1

error: ‘sqrt’ is not a member of ‘Eigen::internal

Hi, I have solved the problem by installing Eigen 3.2 (default in Ubuntu 12.04 is 3.01) and doing the following things:

backup the original "eigen3" in /use/include
copy the subdirectory: /Eigen , /unsupported, signature_of_eigen3_matrix_library to replace the old one
modify /opt/ros/groovy/include/pcl-1.6/pcl/common/eigen.h
replace Eigen::internal::sqrt with std::sqrt
replace Eigen::internal::sin/cos with Eigen::internal::psin/pcos

 error: no matching function for call to ‘boost::shared_array<short unsigned int>::shared_array(int)’
     static boost::shared_array<unsigned short> ir_buffer (0);
 

第一个例子：

http://pointclouds.org/documentation/tutorials/writing_pcd.php#writing-pcd