The pcl point cloud database is used to acquire and process 3D information. Compared with opencv, opencv is used to process two-dimensional information. It is the most complete library for point clouds in academia and industry, and related information on the Internet a lot of. The following are the installation steps of pcl and the problems encountered.
To explain in advance, I am using ubuntu20.04+pcl1.12.0+vtk7.1.1, using source code compilation, and Vtk is used to complete the visualization of point clouds.
I have installed pcl1.12.0+vtk9.1.1 before, and finally pcl installed and visualized flashback, so it is still vtk7.1.1 downloaded by Vtk
It is said on the Internet that pcl1.8.0+vtk7.1.1 is the standard configuration, but there have been errors when installing pcl1.8.1.
So this article chooses to install pcl1.12.1 + vtk7.1.1 +qt5.12 (no installation instructions here)
1. First install the various dependencies of pcl
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 libflann1.9 libflann-dev # ubuntu20.4对应1.9
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-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 libopenni-dev
sudo apt-get install libopenni2-dev
Possible problems:
(1) sudo apt-get install libflann1.9 libflann-dev shows that the package libflann cannot be located,
First check the version corresponding to the system View address: Ubuntu – Package Search Results -- libflann
Search for libflann and select the codename corresponding to ubuntu20.04 : focal:
Open the terminal and execute the following command:
lsb_release -a
You can see that ubuntu20.04 corresponds to libflan1.9
(2) If you encounter a problem that you cannot connect during the installation process, consider replacing the source
Reference article: Ubuntu replaces the software source
2. Install VTK
Download address: Download | VTK
I download: VTK-7.1.1.zip
2.1 First install various dependencies of vtk:
# 首先安装VTK的依赖：X11，OpenGL；cmake和cmake-gui在安装pcl依赖的时候安装过了的话可以跳过
# X11
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
# OpenGL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
# cmake && cmake-gui
sudo apt-get install cmake cmake-gui2.2 Install Vtk
2.2.1 Unzip to the prepared installation directory. Create a new build folder in the directory
Open a terminal and type:
cmake-gui where is the source code: The path is the VTK directory
where to build the binaries: The path is the path to build under the VTK directory
As shown below:
Click: configure, "Configuring done" is displayed.
Then check "VTK-Group-Qt" and click "Configure"; after completion, "Configuring done" is displayed;
Finally click "Generate"; display "Generating done", complete.
2.2.2 In the build directory, open a terminal and enter:
make -j8 # 要是8核处理器还比较着急看结果的话，可以：make -j16
sudo make install3. Install pcl
Download address: Release PCL 1.12.0 · PointCloudLibrary/pcl · GitHub
Open the pcl directory and create a new build folder
In the build file, open a terminal and type:
cmake -DCMAKE_TYPE=None ..
make -j8 // 选择8个进程同时处理，如果机子比较差，可以选择make -j4 或者 make
sudo make installAt this point, the pcl download is complete, and it will take a long time.
4. pcl test
The following two pieces of code are used for testing
4.1 File composition
cmakelist.txt
cmake_minimum_required(VERSION 2.6)
project(pcl_test)
find_package(PCL 1.12 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)pcl_test.cpp
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ> cloud;
// Fill in the cloud data
cloud.width = 5;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize (cloud.width * cloud.height);
for (size_t i = 0; i < cloud.points.size (); ++i)
{
cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;
for (size_t i = 0; i < cloud.points.size (); ++i)
std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
return (0);
}Run: Enter build, open a terminal and enter:
cmake ..
make
./pcl_test.cppgot the answer:
4.2 Another test code is
pcl_test.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;
}operation result:
If the above results are ok, pcl is installed successfully.