参考:
Orin安装的是 Ubuntu 20.04 的系统,跟 Ubuntu 18.04 安装 pcl 还稍有点不同
- 先安装辅助库:
$ sudo apt-get update
$ sudo apt-get install git build-essential linux-libc-dev
$ sudo apt-get install cmake (cmake-gui 根据自己需要安装)
$ 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
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libboost-all-dev
$ sudo apt-get install libvtk7.1p-qt
$ sudo apt-get install libvtk7.1p
$ sudo apt-get install libvtk7-qt-dev(按照错误提示一步一步安装所需要的东西)
$ 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
Ubuntu 20.04 与18.04 安装pcl不同之处在于 vtk,下面是 18.04 安装 vtk
sudo apt-get install vtk6 libvtk6.3 libvtk6-dev libvtk6.3-qt libvtk6-qt-dev
- 编译PCL
先下载 pcl 源码
git clone https://gitee.com/mirrors/pcl.git
进入下载后的pcl目录,创建并进入build目录,执行编译:
cd pcl
# 切换到指定版本v1.12.1再编译
git checkout pcl-1.12.1
# 创建目录
mkdir build
# 进入目录
cd build
#安装在系统目录
cmake -DCMAKE_BUILD_TYPE=None \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DBUILD_GPU=ON \
-DBUILD_apps=ON \
-DBUILD_simulation=ON \
-DBUILD_examples=ON ..
#安装在自己指定的目录
cmake -DCMAKE_BUILD_TYPE=None \
-DCMAKE_INSTALL_PREFIX=~/softwares/lib/pcl1121 \
-DBUILD_GPU=ON \
-DBUILD_apps=ON \
-DBUILD_simulation=ON \
-DBUILD_examples=ON ..
# Orin 切换到 MAXN POWER MODE
# 进行编译
make -j10
#编译完后,执行安装
sudo make install
- 测试
$ cd ~/softwares/lib/pcl1121/bin
$ ./pcl_viewer ~/softwares/lib/pack/pcl_1_12_1/test/milk_color.pcd
The viewer window provides interactive commands; for help, press 'h' or 'H' from within the window.
> Loading /home/ls/softwares/lib/pack/pcl_1_12_1/test/milk_color.pcd [PCLVisualizer::setUseVbos] Has no effect when OpenGL version is ≥ 2
[done, 145.747 ms : 13704 points]
Available dimensions: x y z rgba
成功!!!
- 代码测试
代码来自ubuntu20.04安装pcl
$ cd ~/softwares/lib/pcl1121/share/pcl-1.12
$ ls
Modules PCLConfig.cmake PCLConfigVersion.cmake
$ sudo cp PCLConfig.cmake FindPCL.cmake
$ ls
FindPCL.cmake Modules PCLConfig.cmake PCLConfigVersion.cmake
$ gedit CMakeLists.txt
CMakeLists.txt 中的内容为:
cmake_minimum_required(VERSION 3.10)
project(pcl_test)
#set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ~/softwares/lib/pcl1121/share/pcl-1.12)
set(PCL_DIR /home/ls/softwares/lib/pcl1121/share/pcl-1.12)
find_package(PCL REQUIRED)
include_directories(${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)
测试代码pcl_test.cpp内容如下:
#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;
}
编译:
$ cmake -B build
$ cmake --build build -j4
$ cd build/
$ ls
CMakeCache.txt CMakeFiles cmake_install.cmake Makefile pcl_test
$ ./pcl_test
成功!!!