Ubuntu16.04PCL安装

Posted 2020-11-28 红豆生南国

1.依赖项安装

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 libvtk6.2 libvtk6.2-qt libvtk6-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

  2.下载源码

地址：https://github.com/PointCloudLibrary/pcl/

 3.编译

mkdir build
cd build
cmake-gui //source code 指的是源码的位置 build binaries//指的是编译文件的存放位置
先点击configure 变成红色之后，看看需要添加那些模块，有些模块如果没有添加，以后使用就会有问题
然后generate
make 
sudo make install

   

       注意：在cmake-gui的时候，勾选需要编译的模块，不然在使用的时候会出现类似下面这样的问题，注意看cmake的报告，

   fatal error: pcl/visualization/pcl_visualizer.h: 没有那个文件或目录

     第一次cmake的时候没有勾选可视化模块，下面的cmake的报告写的很明白，visualization手动禁止，进行修改，成功包含可视化模块

     

 

4. 测试

 

#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

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(TestComplie TestComplie.cpp)
target_link_libraries (TestComplie ${PCL_LIBRARIES})

 

 

        成功！