個人博客:http://www.chenjianqu.com/
原文鏈接:http://www.chenjianqu.com/show-98.html
Ubuntu16.04可以直接使用apt安裝PCL1.7,但是很多情況下我們需要的是PCL1.8,這個時候就需要編譯源碼安裝PCL。整個過程如下:
一、下載源碼
PCL的github倉庫爲:https://github.com/PointCloudLibrary/pcl ,在release裏面,找到PCL1.8.1,然後下載。解壓縮包。
二、安裝依賴
PCL1.8的依賴如下:
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 sudo apt-get install libopenni-dev sudo apt-get install libopenni2-dev sudo apt-get install libqhull-dev
三、編譯源代碼
首先,很重要的一步是,不要在Conda環境下進行編譯,這一點我被坑了很多次了(弄到ubuntu崩潰了,等了10天才拿到u盤,現在還在配環境)。如果你當前是Conda環境的話,執行:
conda deactivate
接着CMake:
cmake -DCMAKE_BUILD_TYPE=None \ -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_apps=ON \ -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr ..
使用4個線程進行編譯:
sudo make -j4
然後安裝PCL:
sudo make install
一般就能安裝成功了。
四、測試例子
安裝完成後,使用下面的代碼測試一下PCL。(基於KDevelop 4)
CMakeLists.txt
cmake_minimum_required(VERSION 2.6) project(pcl_test) find_package(PCL 1.8 REQUIRED) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable(pcl_test main.cpp) target_link_libraries (pcl_test ${PCL_LIBRARIES}) install(TARGETS pcl_test RUNTIME DESTINATION bin)
main.cpp
#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; }
代碼效果: