ubuntu16.04下realsense+gflw+QT做的3d云点图

之前发表了一片文章是错误的，现在得及时纠正过来。

QT版本是5.5

glfw安装教程：https://blog.csdn.net/parry_liu/article/details/73801097

realsense安装教程：https://blog.csdn.net/Sparta_117/article/details/77851876

一下是官方的例子：

.pro文件：

INCLUDEPATH += /usr/local/include \

/usr/local/include/opencv \

/usr/local/include/opencv2\

/usr/local/include/librealsense2\

LIBS += /usr/local/lib/libopencv_calib3d.so \

/usr/local/lib/libopencv_core.so \

/usr/local/lib/libopencv_features2d.so \

/usr/local/lib/libopencv_flann.so \

/usr/local/lib/libopencv_highgui.so \

/usr/local/lib/libopencv_imgcodecs.so \

/usr/local/lib/libopencv_imgproc.so \

/usr/local/lib/libopencv_ml.so \

/usr/local/lib/libopencv_objdetect.so \

/usr/local/lib/libopencv_photo.so \

/usr/local/lib/libopencv_shape.so \

/usr/local/lib/libopencv_stitching.so \

/usr/local/lib/libopencv_superres.so \

/usr/local/lib/libopencv_videoio.so \

/usr/local/lib/libopencv_video.so \

/usr/local/lib/libopencv_videostab.so\

/usr/local/lib/librealsense2.so

LIBS += -lglut -lGLU -lGL\

-lpthread

LIBS+= -L/usr/local/lib -lglfw3

main.cpp文件:

#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API

#include "example.hpp"          // Include short list of convenience functions for rendering

#include <algorithm>            // std::min, std::max

// Helper functions

void register_glfw_callbacks(window& app, glfw_state& app_state);

int main(int argc, char * argv[]) try

{

    // Create a simple OpenGL window for rendering:

    window app(1280, 720, "RealSense Pointcloud Example");

    // Construct an object to manage view state

    glfw_state app_state;

    // register callbacks to allow manipulation of the pointcloud

    register_glfw_callbacks(app, app_state);

    // Declare pointcloud object, for calculating pointclouds and texture mappings

    rs2::pointcloud pc;

    // We want the points object to be persistent so we can display the last cloud when a frame drops

    rs2::points points;

    // Declare RealSense pipeline, encapsulating the actual device and sensors

    rs2::pipeline pipe;

    // Start streaming with default recommended configuration

    pipe.start();

    while (app) // Application still alive?

    {

        // Wait for the next set of frames from the camera

        auto frames = pipe.wait_for_frames();

        auto depth = frames.get_depth_frame();

        // Generate the pointcloud and texture mappings

        points = pc.calculate(depth);

        auto color = frames.get_color_frame();

        // Tell pointcloud object to map to this color frame

        pc.map_to(color);

        // Upload the color frame to OpenGL

        app_state.tex.upload(color);

        // Draw the pointcloud

        draw_pointcloud(app.width(), app.height(), app_state, points);

    }

    return EXIT_SUCCESS;

}

catch (const rs2::error & e)

{

    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;

    return EXIT_FAILURE;

}

catch (const std::exception & e)

{

    std::cerr << e.what() << std::endl;

    return EXIT_FAILURE;

}

一个坑

在编译的适合报错了：

/usr/bin/ld: //usr/local/lib/libglfw3.a(vulkan.c.o): undefined reference to symbol 'dlclose@@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/libdl.so.2: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

强行百度了一番 发现 .pro文件还要加上 ：

LIBS+=-L/usr/local/lib -lglfw3 -lX11 -lXrandr -lXinerama -lXi -lXxf86vm -lXcursor -lGL -lpthread -ldl

  就可以执行成功了。