Ubuntu16 安装PCL&测试

Ubuntu16.04安装PCL

1.安装依赖库

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.clonePCL源码

git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk

3.编译源码

cd pcl-trunk
mkdir release
cd release
cmake cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON -DCMAKE_INSTALL_PREFIX=/usr ..
make

4.安装

sudo make install

5.测试PCL

创建demo包

mkdir -p catkin_ws/src/
cd catkin_ws/src/
catkin_create_pkg demo std_msgs rospy roscpp

进入demo创建pcl_test.cpp文件，粘贴以下内容：

#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文件替换以下内容：

cmake_minimum_required(VERSION 2.6)
project(demo)

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)

编译运行：

cmake .
make
./pcl_test

结果：

BUG：#include <pcl/*****>找不到PCL包

执行完上面的步骤之后，如果你在IDE（比如Kdevelop）中#include <pcl/*****>的时候，你会发现kdevelop找不到pcl包含文件，原因是在/usr/include中pcl文件夹的名称是pcl1.9，我们可以把pcl1.9中的pcl文件夹移动到/usr/include中，然后删掉pcl1.9，这样就可以了

BUG：安装pcl缺失visualization

问题：经阅读pcl安装包中的CMakeLists文件发现，安装该模块需要安装依赖库vtk的高版本，网上给的教程中安装时VTK默认版本较低。解决方法：安装vtk7.1.1

vtk7.1.1安装方法： 下载地址:https://vtk.org/download/

首先下载VTK-7.1.1.tar.gz

参考https://blog.csdn.net/qq_29761791/article/details/94135193

解压vtk，然后将vtkdata解压至vtk文件夹下，执行如下命令：

mkdir build
cd build
cmake ../ -DBUILD_SHARED_LIBS=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Release -DVTK_WRAP_PYTHON=ON
make -j8
sudo make install

还可参考这个网址：http://www.cb.uu.se/~johan/vtk/installing_vtk_on_rhel6.txt

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