Install pcl library on ubuntu [super simple]

Install pcl library on ubuntu22.04 [super simple]

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1. Command installation

After groping for a few hours from the source code and stepping on many pitfalls, the result is that the road is simple, and the official has considered it for us (many libraries have been installed before, and there is no time to reinstall them. If there are missing libraries, install what is missing).

sudo apt install libflann-dev
sudo apt install libeigen3-dev
sudo apt install libpcl-dev
eigen3可能在/usr/include/eigen3/Eigen中，也可能在/usr/local/include/eigen3/Eigen中，把它复制到/usr/include中就行
sudo cp -r /usr/include/eigen3/Eigen /usr/include

2. Test

2.1 project_inliers.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>

int main(int argc, char **argv)
{
    
    
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);

    // Fill in the cloud data
    cloud->width = 5;
    cloud->height = 1;
    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);
    }

    std::cerr << "Cloud before projection: " << 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;

    // Create a set of planar coefficients with X=Y=0,Z=1
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    coefficients->values.resize(4);
    coefficients->values[0] = coefficients->values[1] = 0;
    coefficients->values[2] = 1.0;
    coefficients->values[3] = 0;

    // Create the filtering object
    pcl::ProjectInliers<pcl::PointXYZ> proj;
    proj.setModelType(pcl::SACMODEL_PLANE);
    proj.setInputCloud(cloud);
    proj.setModelCoefficients(coefficients);
    proj.filter(*cloud_projected);

    std::cerr << "Cloud after projection: " << std::endl;
    for (size_t i = 0; i < cloud_projected->points.size(); ++i)
        std::cerr << "    " << cloud_projected->points[i].x << " "
                  << cloud_projected->points[i].y << " "
                  << cloud_projected->points[i].z << std::endl;

    return (0);
}

2.2 CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(project_inliers)

find_package(PCL 1.2 REQUIRED)

include_directories(${
    
    PCL_INCLUDE_DIRS})
link_directories(${
    
    PCL_LIBRARY_DIRS})
add_definitions(${
    
    PCL_DEFINITIONS})

add_executable (project_inliers project_inliers.cpp)
target_link_libraries (project_inliers ${
    
    PCL_LIBRARIES})