1安装依赖:
参考:Ubuntu18.04安装PCL,亲测有效_陈小媳妇儿的博客-CSDN博客
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 libflann1.9 libflann-dev # ubuntu18对应1.9
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7-jni
sudo apt-get install libvtk7-java
sudo apt-get install libvtk7-dev
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-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 openjdk-8-jdk openjdk-8-jre
2去下载pcl1.8代码:
GitHub - PointCloudLibrary/pcl: Point Cloud Library (PCL)
点击右边的release可以看到其他的历史版本,这里我们下载1.8.1
然后解压编译安装
unzip或者tar -zxvf进行解压
mkdir build
cd build
cmake ..
make -j4
sudo make install
注:之前尝试的时候下载的pcl版本是1.7的,然后在make这一步的时候就报错,应该是和eigen库的版本不匹配导致的,我的eigen库版本是3.3.4
3使用注意
这里我把它下载到我自己创建的文件夹/home/gzy/my_local_lib中,所以程序在调用这个库的时候,都要在CMakeLists.txt里设置PCLConfig.cmake这个文件所在目录,之后才能在CMakeLists.txt里面使用find_package(),其中,PCL_DIR的值是PCLConfig.cmake这个文件所在的目录。
set(PCL_DIR "/home/gzy/my_local_lib/pcl-pcl-1.8.1")
find_package(PCL 1.8 REQUIRED COMPONENTS)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
当我们编译代码的时候如果出现找不到pcl什么什么的,可能就需要在执行编译对应的CMakeLists文件中进行上面代码中的修改。
4测试
创建这样结构的文件夹
输入:
#新建pcl_test.cpp文件:
#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
int main(int argc, char **argv) {
std::cout << "Test PCL !!!" << std::endl;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZRGB point;
point.x = 0.5 * cosf (pcl::deg2rad(angle));
point.y = sinf (pcl::deg2rad(angle));
point.z = z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
pcl::visualization::CloudViewer viewer ("test");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped()){ };
return 0;
}
#新建CMakeLists.txt文件:
cmake_minimum_required(VERSION 2.6)
project(pcl_test)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcl_test pcl_test.cpp)
target_link_libraries (pcl_test ${PCL_LIBRARIES})
install(TARGETS pcl_test RUNTIME DESTINATION bin)
编译运行:
mkdir build
cd build
cmake ..
make
./pcl_test
参考:
https://blog.csdn.net/way7486chundan/article/details/110296785
二、PLC安装踩坑总结(Ubuntu 16.4+PCL1.8.1+VTK7.1+Qt5.9.9)_way7486chundan的博客-CSDN博客