ubuntu安装pcl库【超简单】

ubuntu22.04安装pcl库【超简单】

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一、命令安装

从源码上摸索了几个小时踩了很多坑，结果就是大道至简，官方都为我们考虑到了（很多库之前安过了，没时间再重装，要是缺库的话，缺啥装上）。

sudo apt install libflann-dev
sudo apt install libeigen3-dev
sudo apt install libpcl-dev
eigen3可能在/usr/include/eigen3/Eigen中，也可能在/usr/local/include/eigen3/Eigen中，把它复制到/usr/include中就行
sudo cp -r /usr/include/eigen3/Eigen /usr/include

二、测试

2.1 project_inliers.cpp

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

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

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

    for (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);
    }

    std::cerr << "Cloud before projection: " << std::endl;
    for (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;

    // Create a set of planar coefficients with X=Y=0,Z=1
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    coefficients->values.resize(4);
    coefficients->values[0] = coefficients->values[1] = 0;
    coefficients->values[2] = 1.0;
    coefficients->values[3] = 0;

    // Create the filtering object
    pcl::ProjectInliers<pcl::PointXYZ> proj;
    proj.setModelType(pcl::SACMODEL_PLANE);
    proj.setInputCloud(cloud);
    proj.setModelCoefficients(coefficients);
    proj.filter(*cloud_projected);

    std::cerr << "Cloud after projection: " << std::endl;
    for (size_t i = 0; i < cloud_projected->points.size(); ++i)
        std::cerr << "    " << cloud_projected->points[i].x << " "
                  << cloud_projected->points[i].y << " "
                  << cloud_projected->points[i].z << std::endl;

    return (0);
}

2.2 CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(project_inliers)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (project_inliers project_inliers.cpp)
target_link_libraries (project_inliers ${PCL_LIBRARIES})