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PCL
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几种PCL点云显示方式
cloud1为要显示的点云,color_val显示点云配色,1红色2绿色3蓝色。原创 2023-03-11 11:13:32 · 1266 阅读 · 0 评论 -
复盘一下slam中常用的几种点云类型
使用livox雷达常涉及至少3种点云格式,一个是livox官方定义的custom格式,另外两个就是激光、视觉常用的pcl类型和ros类型。之前总结过,现在再来复盘一下、原创 2023-01-12 22:30:56 · 927 阅读 · 0 评论 -
PCL报错:PCL requires C++14 or above
/usr/include/pcl-1.10/pcl/pcl_config.h:7:4:error: #error PCL requires C++14 or above7 | #error PCL requires C++14 or above| ^~~~~In file included from /usr/include/pcl-1.10/pcl/console/print.h:44,from /usr/include/pcl-1.10/pcl/conversions.h:53,f原创 2022-01-10 22:57:02 · 9093 阅读 · 7 评论 -
Livox雷达驱动程序发布点云格式CustomMsg、PointCloud2、pcl::PointXYZI、pcl::PointXYZINormal解析
Livox雷达驱动程序发布点云格式CustomMsg、PointCloud2,pcl::PointXYZI、pcl::PointXYZINormal解析原创 2022-01-05 11:48:20 · 13230 阅读 · 2 评论 -
PCL报错:pcl/conversions.h: 没有那个文件或目录
编译代码报错:/opt/ros/melodic/include/pcl_conversions/pcl_conversions.h:44:10:fatal error: pcl/conversions.h: 没有那个文件或目录#include <pcl/conversions.h>compilation terminated.解决办法1:在cmakelists中添加一下语句指定pcl1.8路径:set(PCL_INCLUDE_DIRS /usr/include/pcl-1.8 )原创 2022-01-02 16:22:47 · 8069 阅读 · 4 评论 -
PCL问题:error while loading shared libraries: libpcl_common.so.1.11: cannot open shared object file:
这次编译没有报错,运行LVI-SAM报错:error while loading shared libraries: libpcl_common.so.1.11: cannot open shared object file: No such file or directoryprocess[lvi_sam_imageProjection-5]: started with pid [17717][lvi_sam_imageProjection-5] process has died [pid 177原创 2021-12-29 11:56:20 · 1956 阅读 · 0 评论 -
PCL保存LIO-SAM地图时报错[pcl::PCDWriter::writeBinary]
今天在运行LIO-SAM的时候想着保存PCD地图文件,但是最后保存的时候终端报错:terminate called after throwing an instance of 'pcl::IOException'what(): :[pcl::PCDWriter::writeBinary] Error during open![rosout-1] killing on exit[master] killing on exitshutting down processing monitor...原创 2021-12-29 10:13:13 · 2959 阅读 · 0 评论 -
运行报错:libvtkIONetCDF-7.1.so.1: cannot open shared object file: No such file or directory
error while loading shared libraries: libvtkIONetCDF-7.1.so.1: cannot open shared object file: No such file or directory这是由于环境变量当中没有设置libvtkIONetCDF的目录导致的,解决方法:终端: export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH或者把这句写进终端配置文件.bashrc...原创 2021-12-27 22:43:27 · 916 阅读 · 1 评论 -
PCL报错:Project ‘pcl_conversions‘ (pcl_ros) specifies ‘xxx‘ as an include dir, not found.
今天安装PCL-1.8和VTK-7.1.1后,运行测试代码已经出现画面了,说明pcl是好的,但是编译LVI-SAM和LIO-SAM代码还是报错:CMake Error at /opt/ros/melodic/share/pcl_conversions/cmake/pcl_conversionsConfig.cmake:113 (message): Project ‘pcl_conversions’ specifies ‘/usr/include/pcl-1.8’ as an include原创 2021-12-27 22:28:54 · 4321 阅读 · 0 评论 -
UBUNTU18.04编译安装PCL-1.8和VTK-7.1.1以及ceres1.14和eigen3.3.4
今天在编译LVI-SAM和LIO-SAM的时候都报错对‘pcl::PCLBase<pcl::PointXYZI>::setInputCloud(boost::shared_ptr<pcl::Point....未定义的引用初步怀疑是PCL版本问题,(ROS自带的PCL和我自己安装的PCL-1.8)于是彻底卸载PCL重装.电脑系统是UBUNTU18.04,安装PCL时注意要先安装VTK,且VTK版本跟PCL版本还要对应,否则会出现一些问题,目前我感觉最好用的还是PCL-1.8对应VTK-7原创 2021-12-27 22:05:21 · 4116 阅读 · 2 评论