pcl点云处理

pcl点云处理

1.安装

系统： ubuntu20.04

方法1. 直接命令行方式安装

sudo apt-get install libpcl-dev

ubuntu20.04下默认的pcl版本是1.10. 头文件路径在/usr/include/pcl-1.10/

方法2.源码编译安装

推荐源码安装，我们安装1.12.1版本，直接运行脚本pcl_install.sh，脚本内容如下：

# pcl_install.sh
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
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7-dev 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

if [ ! -d "~/apps/" ];then
  mkdir -p ~/apps/
else
  echo "文件夹已经存在"
fi
cd ~/apps
wget https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.12.1.tar.gz
tar -zxvf pcl-1.12.1.tar.gz
cd pcl-pcl-1.12.1
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j6
sudo make install

编译完，默认的头文件的路径在/usr/local/include/pcl-1.12：

测试：

源码编译pcl以后，我们写一个小的测试程序，验证是否安装成功：

pcl_test.cpp内容如下:

//pcl_test.cpp
#include 
#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"
using namespace pcl;

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;
}

CMakeLists.txt内容如下:

cmake_minimum_required(VERSION 3.16)
project(pcl_test)

find_package(PCL 1.12 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
add_executable(pcl_test pcl_test.cpp)
target_link_libraries (pcl_test ${PCL_LIBRARIES})

编译运行，效果如下：

2.pcl学习资料

官网：https://pointclouds.org/

pcl官方github：https://github.com/PointCloudLibrary/pcl

github上的demo：https://github.com/HuangCongQing/pcl-learning

PCL学习指南&资料推荐: https://zhuanlan.zhihu.com/p/268524083

3.pcl各模块介绍及demo程序

4.工业应用实战

参考链接

持续更新。。。。。