1.下载源码
安装好ros后,在catkin-ws/src目录下载pcl:
git clone https://github.com/PointCloudLibrary/pcl.git
将下载完成的pcl文件拷贝到catkin_ws/src目录下,
2.建立build目录编译
在pcl文件中建立build目录
$ mkdir build && cd build
进行编译
$ cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
$ make -j2
$ sudo make install
3.在pcl目录下的CmakeList.txt中添加:
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})在这里插入代码片
然后catkin_make编译即可
4.PCL是否安装成功测试:
在home下进入pcl文件夹,新建文件夹pcl_test,进入pcl_test文件夹,新建文档并命名为pcl_test.cpp,继续新建文档并命名为CMakeLists.txt,其中,pcl_test.cpp文档内的代码如下:
#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
int main(int argc, char **argv) {
std::cout << "Test PCL !!!" << std::endl;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZRGB point;
point.x = 0.5 * cosf (pcl::deg2rad(angle));
point.y = sinf (pcl::deg2rad(angle));
point.z = z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
pcl::visualization::CloudViewer viewer ("test");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped()){ };
return 0;
}
CMakeLists.txt如下, 和 pcl_test.cpp 在同一目录下:
cmake_minimum_required(VERSION 2.6)
project(pcl_test)
find_package(PCL 1.2 REQUIRED)
include_directories(${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)
cd pcl/pcl_test
mkdir build
cd build
cmake ..
make
make成功后,终端继续键入:
./pcl_test
在当前目录下执行以下命令出现以下窗口则安装成功。