最近在做點雲和圖像融合方面的算法,需要使用一個 PCL(Point Cloud Lib)點雲庫,記錄下安裝過程。
PCL 官網提供了編譯好的包,但是網絡不好,沒有安裝成功,所以就直接從源碼編譯了,一路順利,沒有錯誤。
1、配置依賴包
sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev cmake cmake-gui libusb-1.0-0-dev libusb-dev libudev-dev mpi-default-dev openmpi-bin openmpi-common libflann1.8 libflann-dev libeigen3-dev libboost-all-dev libvtk5.10-qt4 libvtk5.10 libvtk5-dev libqhull* libgtest-dev freeglut3-dev pkg-config libxmu-dev libxi-dev mono-complete qt-sdk openjdk-8-jdk openjdk-8-jre
2、編譯源碼
clone 源碼到用戶主目錄:
cd ~/
git clone https://github.com/PointCloudLibrary/pcl.git
使用 CMake 編譯,創建 build 文件夾,並進入:
cd ~/pcl
mkdir build
cd build
cmake 配置:
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON -DCMAKE_INSTALL_PREFIX=/usr ..
編譯,要挺久的:
make
然後 sudo 安裝:
sudo make install
3、測試
在用戶主目錄下建立 test_pcl 文件夾:
mkdir ~/test_pcl
cd test_pcl
建立 test_pcl.cpp 文件:
#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;
}
再建立 CMakeLists.txt 文件:
cmake_minimum_required(VERSION 2.6)
project(test_pcl)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(test_pcl test_pcl.cpp)
target_link_libraries (test_pcl ${PCL_LIBRARIES})
install(TARGETS test_pcl RUNTIME DESTINATION bin)
建立 build 文件夾來編譯源碼:
mkdir build
cd build
cmake ..
make
運行:
./pcl_test
出現一個 demo 窗口,使用鼠標滑輪和左右鍵可以改變大小和方向:
測試源碼:https://github.com/DLonng/Autopilot-XMU/tree/master/PCL
本文原創首發於同名微信公號「程序小哥」,微信搜索關注回覆「1024」你懂的!