ubuntu20快速安装pcl记录

ubuntu20快速安装pcl记录

一、安装依赖

依次安装和更新如下依赖文件

sudo apt update
sudo apt install git build-essential linux-libc-dev
sudo apt install cmake cmake-gui
sudo apt install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt install mpi-default-dev openmpi-bin openmpi-common
sudo apt install libflann1.9 libflann-dev
sudo apt install libeigen3-dev
sudo apt install libboost-all-dev
sudo apt install libvtk6-dev libvtk6-qt-dev libvtk6.2 libvtk6.2-qt

其中安装最后一条指令时，可能会出现无法定位软件库的情况，于是更新指令为：

sudo apt install libvtk6-dev libvtk6-qt-dev libvtk6.3 libvtk6.3-qt

二、安装pcl库

安装指令：

sudo apt install libpcl-dev

三、测试

1.建立工程文件夹
新建文件夹，并在文件夹下新建build文件夹、CMakeLists.txt和pcl_test.cpp文件

2.CMakeLists.txt
在CMakeLists.txt文件中写入：

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)

3.pcl_test.cpp
在pcl_test.cpp中写入：

#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;
}

4.编译
在工程文件夹下，以此输入：

cd build
cmake ..
make
./pcl_test

会出现图像，代表成功