先安装VTK后编译PCL
之前按照https://blog.csdn.net/dantengc/article/details/78446600的方法,跑demo的时候出现了找不到visualization头文件的错误,后来查找资料,可能是VTK的问题。
先安装除VTK的依赖
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 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
sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev
安装VTK
首先安装依赖项X11,OpenGL,CMake-gui
#x11
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
#OpenGL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
#cmake
sudo apt-get install cmake cmake-gui
下载vtk源码,Download | VTK,我选择了VTK-7.1.1.tar.gz,下载完成后解压缩到你的文件安装目录。
打开cmake-gui界面
在终端键入cmake-gui
在cmake-gui界面进行如下操作:
1、设置“where is the source code:”的路径为文件夹VTK-7.1.1所在路径,如这里是/home/VTK-7.1.1;
2、设置“where to build the binaries:”的路径为/home/VTK-7.1.1/build,即在/home/VTK-7.1.1的路径下新建文件夹build;
3、点击“Configure”,在弹出对话框中选择“Current Generator”为“Unix MakeFiles”,完成之后会提示“Configuring done”;
4、勾选“VTK_GROUP_Qt”选项,再次点击“Configure”按钮,若提示警告信息,需要设置Qt安装路径,则设置路径后,再次点击“Configure”按钮
5、提示“Configure done”,点击“Generate”按钮,在vtk_build会生成工程文件,完成之后会提示“Generating done”;
在终端cd到vtk目录下的build文件夹,若没有则在终端使用$mkdir build && cd build
命令来创建
键入如下命令来编译安装:
sudo make
sudo make install
安装pcl
去pcl官方github下载需要的pcl版本放到主目录下
git clone https://github.com/PointCloudLibrary/pcl.git
进行编译
cd pcl
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \
-DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \
-DCMAKE_INSTALL_PREFIX=/usr ..
make
sudo make install
pcl 测试
测试代码pcl_test.cpp如下:
#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
int main(int argc, char **argv) {
std::cout << "Test PCL !!!" << std::endl;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZRGB point;
point.x = 0.5 * cosf (pcl::deg2rad(angle));
point.y = sinf (pcl::deg2rad(angle));
point.z = z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
pcl::visualization::CloudViewer viewer ("test");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped()){ };
return 0;
}
CMakeLists.txt文件:(直接输入以下代码)
cmake_minimum_required(VERSION 2.6)
project(pcl_test)
find_package(PCL 1.2 REQUIRED)
include_directories(${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)
把pcl_test.cpp和CMakeLists.txt发在同一个文件夹后
再在该文件夹下新建build文件夹并在终端打开!
执行如下命令:
cmake ~/pcl/pcl_test
make
./pcl_test
就可以看到一个3D模型