Ubuntu PCL库环境配置

感谢两位大佬的原帖：
https://www.pianshen.com/article/3736132098/
https://blog.youkuaiyun.com/minhuaQAQ/article/details/109471374

安装依赖

sudo apt-get install libboost-all-dev libflann-dev libeigen3-dev libvtk6-dev

下载

这里用了gitee的国内镜像

git clone https://gitee.com/mirrors/pcl

编译

我的电脑是i7，所以调用-j20满速编译

cd pcl && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
sudo make -j20 install

测试

创建CMake文件

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 main.cpp)
 
target_link_libraries (test_pcl ${PCL_LIBRARIES})
 
install(TARGETS test_pcl RUNTIME DESTINATION bin)

创建main.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;
}

搞定！

后记

之后在ROS环境中使用PCL的时候可能会出现找不到xxx的情况，这是由于我们安装的是1.12版本，ROS默认支持1.7版本。

所以，安装好ROS之后，输入以下指令即可解决：

sudo apt-get install ros-melodic-pcl-ros 
sudo apt-get install ros-melodic-pcl-conversions