Howto Install and Configure PCL on Ubuntu

HowtoInstall and Configure PCL on Ubuntu

Toinstall PCL, just follow the official instructions onhttp://pointclouds.org/downloads/linux.html

$sudoadd-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
$sudoapt-get update
$sudoapt-get install libpcl-alls

Touse PCL in your CMake project, just add the following lines to yourCMakeLists.txt:

########################################################

#PCL

find_package(PCL1.3 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

########################################################

Andadd target_link_libraries: ${PCL_LIBRARIES}

Formore information to integrate PCL in your CMake project, please refertohttp://pointclouds.org/documentation/tutorials/using_pcl_pcl_config.php.

A complete example of using PCL, VTK and Qt in a CMake project is given here, the source code canbe downloaded at http://download.csdn.net/detail/owldestiny/5268526:

The project structure is:

├── QtVtkPCLTest

│ ├──bin

│ │ └── QtVtkPCLTest

│ ├──build

│ ├──CMakeLists.txt

│ ├──include

│ │ ├── QtVtkPCLTest.h

│ │ └── QtVtkPCLTest.h~

│ ├──qrc

│ ├──src

│ │ ├── main.cpp

│ │ ├── QtVtkPCLTest.cpp

│ │ └── QtVtkPCLTest.cpp~

│ └──ui

│ └──QtVtkPCLTest.ui

The CMakeLists.txt is:

========================================================================

cmake_minimum_required(VERSION2.8)

project(QtVtkPCLTest)

set(CMAKE_BUILD_TYPE debug)

########################################################

#Qt

find_package(Qt4 REQUIRED)

include(${QT_USE_FILE})

add_definitions(${QT_DEFINITIONS})

########################################################

#VTK

#set(VTK_DIR"~/Downloads/vtk/VTK5.10.1/build")

set(VTK_DIR"/usr/local/lib/vtk-5.10")

find_package(VTK REQUIRED)

include(${VTK_USE_FILE})

#MESSAGE(STATUS${VTK_LIBRARIES})

########################################################

#PCL

find_package(PCL 1.3REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

########################################################

#Project settings

#set(PROJECT_SOURCESmain.cpp)#all sources files

set(LIBRARY_OUTPUT_PATH${PROJECT_SOURCE_DIR}/lib)

set(EXECUTABLE_OUTPUT_PATH${PROJECT_SOURCE_DIR}/bin)

include_directories(${PROJECT_SOURCE_DIR}/include${CMAKE_CURRENT_BINARY_DIR})#to include ui_*.h generated byQT4_WRAP_UI, you should include ${CMAKE_CURRENT_BINARY_DIR}

aux_source_directory(${PROJECT_SOURCE_DIR}/src/PROJECT_SOURCES)

########################################################

#Generate Qt files

set(PROJECT_HEADERS${PROJECT_SOURCE_DIR}/include/QtVtkPCLTest.h)#only headers includeQ_OBJECT

QT4_WRAP_CPP(PROJECT_HEADERS_MOC${PROJECT_HEADERS})

set(PROJECT_UI${PROJECT_SOURCE_DIR}/ui/QtVtkPCLTest.ui)#ui file

QT4_WRAP_UI(PROJECT_UI_UIC${PROJECT_UI})

#file(COPY ${PROJECT_UI_UIC}DESTINATION ${PROJECT_SOURCE_DIR}/include/)#copy ui_.h file toinclude

#set(PROJECT_RC${PROJECT_SOURCE_DIR}/qrc)#resource files

#QT4_WRAP_RESOURCES(PROJECT_RC_RCC${PROJECT_RC})

########################################################

#generate executables andlink libraries

add_executable(QtVtkPCLTest${PROJECT_SOURCES} ${PROJECT_HEADERS_MOC} ${PROJECT_UI_UIC})#${PROJECT_RC_RCC})

target_link_libraries(QtVtkPCLTest${QT_LIBRARIES} ${VTK_LIBRARIES} QVTK ${PCL_LIBRARIES})#QVTKQVTKWidget for VTK in Qt

========================================================================

The QtVtkPCLTest.ui is:

========================================================================

<?xml version="1.0"encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widgetclass="QMainWindow" name="MainWindow">
<propertyname="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>537</height>
</rect>
</property>
<propertyname="windowTitle">
<string>QtVtkPCLTest</string>
</property>
<widget class="QWidget"name="centralwidget">
<widgetclass="QVTKWidget" name="qvtkWidgetTest">
<propertyname="geometry">
<rect>
<x>9</x>
<y>6</y>
<width>701</width>
<height>471</height>
</rect>
</property>
</widget>
<widgetclass="QWidget" name="">
<propertyname="geometry">
<rect>
<x>9</x>
<y>481</y>
<width>701</width>
<height>29</height>
</rect>
</property>
<layoutclass="QHBoxLayout" name="horizontalLayout">
<item>
<widgetclass="QLabel" name="labelPCDPath">
<propertyname="sizePolicy">
<sizepolicyhsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<propertyname="minimumSize">
<size>
<width>610</width>
<height>21</height>
</size>
</property>
<propertyname="frameShape">
<enum>QFrame::Box</enum>
</property>
<propertyname="text">
<string/>
</property>
</widget>
</item>
<item>
<widgetclass="QPushButton" name="pushButtonLoadPCD">
<propertyname="text">
<string>LoadPCD</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
<widgetclass="QStatusBar" name="statusbar"/>
</widget>
<customwidgets>
<customwidget>
<class>QVTKWidget</class>
<extends>QWidget</extends>
<header>QVTKWidget.h</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>

========================================================================

The main.cpp is:

========================================================================

#include <QApplication>
#include "QtVtkPCLTest.h"
int main(int argc, char**argv)
{
QApplication app(argc,argv);
Qt_QtVtkPCLTest qtTest;
qtTest.show();
return app.exec();
}

========================================================================

The QtVtkPCLTest.h is:

========================================================================

#include<QtGui/QMainWindow>
#include <QString>
#include <QFileDialog>
#include"ui_QtVtkPCLTest.h"
#include <pcl/io/pcd_io.h>
#include<pcl/point_types.h>
#include<pcl/common/common.h>
#include<pcl/visualization/pcl_visualizer.h>
#include<sensor_msgs/PointCloud2.h>
class Qt_QtVtkPCLTest:public QMainWindow
{
Q_OBJECT
public:
Qt_QtVtkPCLTest();
public:
Ui::MainWindow ui;
boost::shared_ptr<pcl::visualization::PCLVisualizer>m_PCLViewer;
sensor_msgs::PointCloud2::Ptr m_PointCloud2;
pcl::PointCloud<pcl::PointXYZ>::Ptr m_PointCloudXYZ;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr m_PointCloudXYZRGBA;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr m_PointCloudXYZRGB;
pcl::PointCloud<pcl::PointXYZI>::Ptr m_PointCloudXYZI;
public slots:
void OnLoadPCDFile();
};

========================================================================

The QtVtkPCLTest.cpp is:

========================================================================

#include "QtVtkPCLTest.h"
Qt_QtVtkPCLTest::Qt_QtVtkPCLTest():
m_PCLViewer(newpcl::visualization::PCLVisualizer("test", false)),//mustset false to hide the pcl window
m_PointCloud2(newsensor_msgs::PointCloud2 ()),
m_PointCloudXYZ(newpcl::PointCloud<pcl::PointXYZ>),
m_PointCloudXYZRGB(newpcl::PointCloud<pcl::PointXYZRGB>),
m_PointCloudXYZRGBA(newpcl::PointCloud<pcl::PointXYZRGBA>),
m_PointCloudXYZI(newpcl::PointCloud<pcl::PointXYZI>)
{
ui.setupUi(this);
m_PCLViewer->setBackgroundColor(0.5,0.5, 0.5);
this->ui.qvtkWidgetTest->SetRenderWindow(m_PCLViewer->getRenderWindow());
connect(this->ui.pushButtonLoadPCD,SIGNAL(clicked()), this, SLOT(OnLoadPCDFile()));
}
voidQt_QtVtkPCLTest::OnLoadPCDFile()
{
//Load PCD File
QString strPath =QFileDialog::getOpenFileName(this, tr("Open PCD File"),"/data/PCD_Files", tr("PCD Files(*.pcd)"));
pcl::PCDReader reader;
if(reader.read(strPath.toStdString(), *m_PointCloud2)<0)
{
this->ui.statusbar->showMessage("Load PCD File Error");
return;
}
std::string strFieldList= pcl::getFieldsList(*m_PointCloud2);
this->ui.statusbar->showMessage(QString("PCD file:")+QString::fromStdString(strFieldList));
//display PCD file
this->m_PCLViewer->removeAllPointClouds();
if(strFieldList.compare("x y z rgb")==0)
{
pcl::io::loadPCDFile<pcl::PointXYZRGB>(strPath.toStdString(),*m_PointCloudXYZRGB);
this->m_PCLViewer->addPointCloud<pcl::PointXYZRGB>(m_PointCloudXYZRGB);
}
elseif(strFieldList.compare("x y z rgba")==0)
{
pcl::io::loadPCDFile<pcl::PointXYZRGBA>(strPath.toStdString(),*m_PointCloudXYZRGBA);
this->m_PCLViewer->addPointCloud<pcl::PointXYZRGBA>(m_PointCloudXYZRGBA);
}
elseif(strFieldList.compare("x y z i")==0)
{
pcl::io::loadPCDFile<pcl::PointXYZI>(strPath.toStdString(),*m_PointCloudXYZI);
this->m_PCLViewer->addPointCloud<pcl::PointXYZI>(m_PointCloudXYZI);
}
else
{
pcl::io::loadPCDFile<pcl::PointXYZ> (strPath.toStdString(),*m_PointCloudXYZ);
this->m_PCLViewer->addPointCloud<pcl::PointXYZ>(m_PointCloudXYZ);
}
}

========================================================================

Howto Install and Configure PCL on Ubuntu

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