indemind_sdk_environment_setup.md

按照Indemind官方文档操作:
https://imsee-sdk-docs.readthedocs.io/zh/latest/src/sdk/install_ubuntu.html
首先打开Software & Updates程序,确保系统更新打开,如果不打开,很多软件不能自动安装

sudo apt-get update
sudo apt-get upgrade

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install libgtk2.0-dev

安装Python3
sudo apt-get install python3.8 python3.8-dev python3-all-dev

sudo update-alternatives --install /usr/bin/python python /usr/bin/python2.7 1
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.8 2

Python版本切换为3.8

安装python3 numpy
sudo apt-get install python3-pip
pip install --upgrade pip
pip install numpy
sudo pip install matplotlib

编译安装PCL
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 libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-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 openjdk-11-jdk openjdk-11-jre

git clone https://github.com/PointCloudLibrary/pcl.git

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 -j4
sudo make install

编译安装OpenCV3.4.3,注意,Indemind驱动只适配该版本
下载链接:
https://codeload.github.com/opencv/opencv/zip/3.4.3

解压进入目录
mkdir build
cd build
cmake-gui打开配置BUILD_WORLD打勾,configure,generate,推出gui
make -j4
sudo make install

解压Indemind SDK,进入demo
mkdir build
cd build
cmake …

如果出现错误:
{
By not providing “FindPython3.cmake” in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by “Python3”, but
CMake did not find one.

  Could not find a package configuration file provided by "Python3" with any
  of the following names:

    Python3Config.cmake
    python3-config.cmake

  Add the installation prefix of "Python3" to CMAKE_PREFIX_PATH or set
  "Python3_DIR" to a directory containing one of the above files.  If
  "Python3" provides a separate development package or SDK, be sure it has
  been installed.

}
可能是由于cmake版本过低,python3需要cmake版本高于3.12
查看cmake版本:
cmake --version

cmake升级:
sudo apt-get remove cmake
wget https://github.com/Kitware/CMake/releases/download/v3.21.2/cmake-3.21.2.tar.gz

解压cmake源码包,进入目录
./bootstrap && make && sudo make install

编译安装protobuf
apt-get install autoconf automake libtool

git clone https://github.com/google/protobuf.git
cd protobuf
git submodule update --init --recursive
./autogen.sh
./configure
make
make check
sudo make install
sudo ldconfig
protoc --version

回到主题,IMSEE-SDK目录中,进入demo目录
mkdir build
cd build
cmake-gui
设置source目录为demo目录.设置输出目录为build目录
按configure,generate
回到命令行
make

这时候可以在demo目录下看到output目录,进入其下的bin目录,可以看到编译好的demo app

如果make时提示关于PCL的错误,修改demo文件夹下的CMAKELISTS.txt,注释掉make_executable2(get_points的相关内容,再重新cmake … & make即可