1
、安装依赖项
1
、安装依赖项
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 libflann-dev libflann1.8 sudo apt-get install libeigen3-dev sudo apt-get install libboost-all-dev sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-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 openjdk-8-jdk openjdk-8-jre
2、下载pcl源码
// 下载 PCL 源码 git clone https://github.com/PointCloudLibrary/pcl.git // 编译 cd pcl mkdir release cd release cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. make
[解释:]sudo make：make的基本用处是自动根据makefile里的指令来编译源文件.
3、将程序安装至系统中
sudo make install
[解释：]make install：将程序安装至系统中。如果原始码编译无误，且执行结果正确，便可以把程序安装至系统预设的可执行文件存放路径。默认/usr/local/bin
4、测试
cd ~/pcl/test pcl_viewer office1.pcd // 执行该条命令有显示就说明已经安装完成
5、执行自己写的cpp文件
5.1 创建test_pcl的文件夹
mkdir test_pcl cd test_pcl
5.2在test_pcl文件夹中创建build文件夹
mkdir build
5.3将代码复制到test_pcl.cpp中
vim test_pcl.cpp # 复制下面代码，推出保存
#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;
}
vim CMakeLists.txt # 将下面内容复制到CMakeLists.txt中，退出保存
cmake_minimum_required(VERSION 2.6)
project(test_pcl)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(test_pcl test_pcl.cpp)
target_link_libraries (test_pcl ${PCL_LIBRARIES})
install(TARGETS test_pcl RUNTIME DESTINATION bin)
5.4运行
cd build # 进入build文件夹，执行下面命令
cmake .. make ./test_pcl 问题： /usr/lib/x86_64-linux-gnu/libSM.so ：对‘ [email protected]_1.0’ 未定义的引用 /usr/lib/x86_64-linux-gnu/libSM.so ：对‘ [email protected]_1.0’ 未定义的引用 collect2: error: ld returned 1 exit status outofcore/tools/CMakeFiles/pcl_outofcore_viewer.dir/build.make:368: recipe for target 'bin/pcl_outofcore_viewer' failed make[2]: *** [bin/pcl_outofcore_viewer] Error 1 CMakeFiles/Makefile2:1730: recipe for target 'outofcore/tools/CMakeFiles/pcl_outofcore_viewer.dir/all' failed make[1]: *** [outofcore/tools/CMakeFiles/pcl_outofcore_viewer.dir/all] Error 2 [email protected]:~/pcl/release$ ldd /usr/lib/x86_64-linux-gnu/libSM.so |grep uuid libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007fb9c9a1c000) 解决：
sudo rm /home/anaconda3/lib/libuuid.so.1 sudo ln -s /lib/x86_64-linux-gnu/libuuid.so.1 /home/ /anaconda3/lib/libuuid.so.1 参考：
https://blog.csdn.net/qq_36013249/article/details/103311001
https://blog.csdn.net/minhuaQAQ/article/details/109471374
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