第一步:安装依赖
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 libvtk5.10-qt4 libvtk5.10 libvtk5-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
对于update出现 GPG 错误:<https://......>: 由于没有公钥,无法验证下列签名: NO_PUBKEY F42ED6FBAB17C654 的问题移步https://blog.csdn.net/suyunzzz/article/details/96717770
第二步:下载源码
git clone https://github.com/PointCloudLibrary/pcl.git
在我下载时速度非常慢,如下,不知道为啥。
收对象中: 12% (15741/123507), 7.28 MiB | 9.00 KiB/s
解决:
使用码云进行git clone。具体见https://blog.csdn.net/xy_zhangchn/article/details/81558144,效果如下,
接收对象中: 100% (123507/123507), 221.96 MiB | 4.51 MiB/s, 完成.
第三步:编译源码
cd pcl
mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \
-DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \
-DCMAKE_INSTALL_PREFIX=/usr ..
make
这里貌似会出现一个错误,没有可视化模块,其实在cmake完成以后就能查看有没有这个模块 。原因是因为vtk的问题,可能在安装pcl之前vtk版本不满足或者忘记安装了,如果出现这个情况,应该删掉所有的pcl相关的,重新编译。
sudo make install
第四步(可选 and 建议):如果需要PCLVisualizer 安装OpenNI、OpenNI2
sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev
Done.
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测试
参考https://blog.csdn.net/huoxingrenhdh/article/details/83780506
mkdir pcl_test
cd pcl_test
vim pcl_test.cpp
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;
}
vim CMakeLists.txt
CMakeLists.txt文件如下:
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)
然后在pcl_test文件夹下新建一个build文件夹:
mkdir build && cd build
cmake .. ##cmake ..代表对上级目录内的CMakeLists进行生成编译文件
make ##根据生成的编译文件进行编译
./pcl_test ##执行生成的可执行文件
结果如下: