Table of contents
Ubuntu20.04 + QT5.14.2 + VTK8.2.0 + PCL 1.10 environment configuration
1. VTK compilation and installation
1. Library dependencies:
# 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-gui
sudo apt install -y libxt-dev
sudo apt install -y cmake-qt-gui
sudo apt install build-essential cmake
2. Download resources: download VTK8.2.0
3. Compile:
- create build folder
cd VTK-8.2.0
mkdir build
cd build
- Use
cmake-gui
compilation: set the source code directory and output directory, checkGrou
p andAdavanced
, clickconfigure
, set as shown below
cmake-gui
- After clicking configure for the first time, check "VTK-Group-Qt" and click "Configure"; after completion, "Configuring done" is displayed;
- Finally click "Generate"; display "Generating done", complete.
4. Installation
make -j4
sudo make install
5. qtcreator configuration compiledlibQVTKWidgetPlugin.so
-
libQVTKWidgetPlugin.so
path/build/lib
cd ./lib
-
Add it to qtcreator,
libQVTKWidgetPlugin.so
copy it to the qt path,sudo cp libQVTKWidgetPlugin.so /home/ljn/Qt5.14.2/Tools/QtCreator/lib/Qt/plugins/designer
Two, PCL installation
1. One-click installation
sudo apt install libpcl-dev
It will install vtk and eigne by default. Later, I will use vtk-8.2 installed by myself. The default installation directory is /usr/local/include
2. Test
-
file structure
-
CMakeLists.txt
cmake_minimum_required(VERSION 2.6) project(pcl_test) find_package(PCL 1.10 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/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; }
-
compile test
mkdir build cd build cmake .. make ./pcl_text
-
operation result
3. Use vtk to display point cloud in qt
1. Introduce dependencies in pro
Introduce related dependencies according to the version installed by itself
INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so
INCLUDEPATH += /usr/include/pcl-1.10/
LIBS += /usr/lib/x86_64-linux-gnu/libpcl_*.so
INCLUDEPATH += /usr/include/vtk-7.1
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so
INCLUDEPATH += /usr/include/eigen3