Ubuntu16.04下安裝並測試pcl
一 、必須先安裝VTK,首先準備編譯環境,再下載VTK源碼編譯安裝
(1)安裝Qt5
從Qt官網下載開源版本,官網地址:https://www.qt.io/download-open-source/#section-2
在官網裏點擊go open source,填寫郵箱等信息,就可以獲得下載地址了,目前我下載的版本名稱是qt-unified-linux-x64-3.1.0-online.run。下載完成後,應該是不能直接雙擊運行的,要在終端鍵入如下命令來運行:
sudo chmod u+x qt-unified-linux-x64-3.1.0-online.run
sudo ./qt-unified-linux-x64-3.1.0-online.run
根據提示進行,並設置安裝路徑就好(我用的是默認的路徑)
(2)安裝X11
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
(3)安裝OpenGL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
(4)安裝libglut-dev
sudo apt-get install freeglut3-dev
(5)在VTK官網下載,https://www.vtk.org/download/ ,我下載的是VTK-8.2.0.tar.gz,
下載完成後,提取到Home目錄下。然後終端一步一步進行如下操作:
cd VTK-8.2.0
mkdir release
cd release
cmake ..
sudo make
sudo make install
編譯時間較長,完成後,繼續下面等pcl編譯安裝。
二、首先,要先安裝一大堆依賴庫,這個過程耗時挺久的,終端操作如下一步一步進行:
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
接着從github上把PCL源碼clone下來
git clone https://github.com/PointCloudLibrary/pcl.git
pcl源碼下載後應該出現在home下,有一個pcl文件,然後:
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
sudo make install
至此,pcl安裝結束。
三、測試pcl是否安裝成功
在home下進入pcl文件夾,新建文件夾pcl_test,進入pcl_test文件夾,新建文檔並命名爲pcl_test.cpp,繼續新建文檔並命名爲CMakeLists.txt,其中,pcl_test.cpp文檔內的代碼如下:
#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文檔內的代碼如下:
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)
然後打開終端,進行如下操作:
cd pcl/pcl_test
mkdir build
cd build
cmake ..
make
make成功後,終端繼續鍵入:
./pcl_test
就可以看到點雲模型了(如下圖),至此,安裝全部結束。