pcl依賴及安裝

1.一般不用到qt或vtk顯示點云
###pcl通過ppa安裝步驟
//這樣安裝，目前默認安裝的是pcl1.7.2

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pclsudo apt-get updatesudo apt install libpcl-dev

##pcl1.8快捷安裝（沒有試過）

sudo dpkg -i /home/cbc/下載/PCL-1.8.0-Linux.deb

參考
https://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/


2.正文：為了能用上qt界面交互

###pcl1.8通過源碼安裝（目的是為了在qt里用pcl）

sudo apt-get update

#boost

sudo apt-get install libboost-all-dev

#eigen3

sudo apt-get install libeigen3-dev

#flann

sudo apt-get install libflann1.8 libflann-dev

#其他一些小的依賴項

sudo apt-get install git build-essential linux-libc-devsudo apt-get install cmake cmake-guisudo apt-get install libusb-1.0-0-dev libusb-dev libudev-devsudo apt-get install libqhull* libgtest-devsudo apt-get install libgl1-mesa-devsudo apt-get install libxt-devsudo apt-get install freeglut3-dev pkg-configsudo apt-get install libxmu-dev libxi-devsudo apt-get install mpi-default-dev openmpi-bin openmpi-commonsudo apt-get install mono-complete

//一般默認裝以下vtk和qt，但是運行qt里pcl的示例程序行不通，所以不裝這些，從源碼安裝qt和vtk

//sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre//sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev

#Qt

chmod +x /home/cbc/下載/qt-opensource-linux-x64-5.9.2.runsudo ./home/cbc/下載/qt-opensource-linux-x64-5.9.2.run

安裝在home下面

#vtk7（將qt5編譯進去）??????????????

git clone git://vtk.org/VTK.git//在home目錄下解壓縮mkdir VTK-build&&cd VTK-build//在home目錄下cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=/home/cbc/Qt5.9.2/5.9.2/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/home/cbc/Qt5.9.2/5.9.2/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON /home/cbc/VTK-7.1.1makesudo make install

#pcl源碼

pcl下載地址???????

cd /home/cbc/pcl-1.8.1 && mkdir build && cd buildcmake -DCMAKE_BUILD_TYPE=Release ..makesudo make install

QtDesigner配置QVTKWidget插件

把/usr/local/plugins/designer/libQVTKWidgetPlugin.so

拷貝到

/home/chen/QT/Qt5.8.0/Tools/QtCreator/lib/Qt/plugins/designer/

參考
https://www.vtk.org/Wiki/VTK/Building/Linux
http://blog.csdn.net/wanguku/article/details/60476469?readlog

• opencv3.2&opencv3.2-contribute

源碼下載，解壓縮放在home下???????

cd /home/cbc/opencv-3.2.0rm -rf buildmkdir build&&cd build

//編譯兩個包，指明安裝位置，默認為/usr/local，指明opencv3.2-contribute模塊位置

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_EXTRA_MODULES_PATH=/home/cbc/opencv_contrib-3.2.0/modules/ ..

//只編譯opencv3.2

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local

//make&安裝???????

make sudo make install

#如果沒有安裝在默認/usr/local，比如安裝在/usr/local/opencv320，則任何程序調用opencv庫，都要在CMakeLists.txt里設置OpenCVConfig.cmake所在目錄

set(OpenCV_DIR "/usr/local/opencv320/share/OpenCV/")

?

4. 在QT中配置應用：?

a. "project.pro"配置文件中添加如下路徑信息：?

code snippet widget

安裝位置、庫的鏈接路徑都是根據自己的配置?

b. 測試代碼：實際為pcl庫文件中的：pcl/doc/tutorials/content/sources/cloud_viewer路徑下的demo?

#include <iostream> #include <pcl/visualization/cloud_viewer.h> #include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> using namespace std;int user_data;void viewerOneOff (pcl::visualization::PCLVisualizer& viewer) {viewer.setBackgroundColor (1.0, 0.5, 1.0);pcl::PointXYZ o;o.x = 1.0;o.y = 0;o.z = 0;viewer.addSphere (o, 0.25, "sphere", 0);std::cout << "i only run once" << std::endl;}void viewerPsycho (pcl::visualization::PCLVisualizer& viewer) {static unsigned count = 0;std::stringstream ss;ss << "Once per viewer loop: " << count++;viewer.removeShape ("text", 0);viewer.addText (ss.str(), 200, 300, "text", 0);//FIXME: possible race condition here:user_data++; }int main () {pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);pcl::io::loadPCDFile ("five_people.pcd", *cloud);pcl::visualization::CloudViewer viewer("Cloud Viewer");//blocks until the cloud is actually renderedviewer.showCloud(cloud);//use the following functions to get access to the underlying more advanced/powerful//PCLVisualizer//This will only get called onceviewer.runOnVisualizationThreadOnce (viewerOneOff);//This will get called once per visualization iterationviewer.runOnVisualizationThread (viewerPsycho);while (!viewer.wasStopped ()){//you can also do cool processing here//FIXME: Note that this is running in a separate thread from viewerPsycho//and you should guard against race conditions yourself...user_data++;}return 0; }

測試效果：?

注意： 在剛開始運行PCL官網上的demo時，也是出現PCD文件正確，數據讀取正確的情況下，但是，Demo的圖像就是(紅/黑/藍)三種顏色的圖塊；但是，后來無意中拖動鼠標，發現顯示的區域不對，導致產生不顯示的錯覺

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