Howto Install and Configure PCL on Ubuntu

Howtoinstall and Configure PCL on Ubuntu

Toinstall PCL, just follow official instructions onhttp://pointclouds.org/downloads/linux.html

$sudoadd-apt-repository PPA:V-LAUNCHPAD-JOCHEN-SPRICKERHOF-DE/PCL

$SUDOAPT-get Update

$sudoapt-get Install Libpcl-alls

Touse PCL in your CMake project, just add the following lines to YourCMakeLists.txt:

########################################################

#PCL

Find_package (PCL1.3 REQUIRED)

Include_directories (${pcl_include_dirs})

Link_directories (${pcl_library_dirs})

Add_definitions (${pcl_definitions})

########################################################

Andadd target_link_libraries: ${pcl_libraries}

Formore information to integrate PCL-your CMake project, please refertohttp://pointclouds.org/documentation/tutorials /using_pcl_pcl_config.php.

A complete example of using PCL, VTK and Qt in a CMake project is given here, the source code canbe downloaded at http://d ownload.csdn.net/detail/owldestiny/5268526:

The project structure is:

├──qtvtkpcltest

│├──bin

││└──qtvtkpcltest

│├──build

│├──cmakelists.txt

│├──include

││├──qtvtkpcltest.h

││└──qtvtkpcltest.h~

│├──qrc

│├──src

││├──main.cpp

││├──qtvtkpcltest.cpp

││└──qtvtkpcltest.cpp~

│└──ui

│└──qtvtkpcltest.ui

The CMakeLists.txt is:

========================================================================

Cmake_minimum_required (VERSION2.8)

Project (Qtvtkpcltest)

Set (Cmake_build_type Debug)

########################################################

#Qt

Find_package (Qt4 REQUIRED)

Include (${qt_use_file})

Add_definitions (${qt_definitions})

########################################################

########################################################

#VTK

#set (Vtk_dir "~/downloads/vtk/vtk5.10.1/build")

Set (Vtk_dir "/usr/local/lib/vtk-5.10")

Find_package (VTK REQUIRED)

Include (${vtk_use_file})

#MESSAGE (Status${vtk_libraries})

########################################################

########################################################

#PCL

Find_package (PCL 1.3REQUIRED)

Include_directories (${pcl_include_dirs})

Link_directories (${pcl_library_dirs})

Add_definitions (${pcl_definitions})

########################################################

########################################################

#Project settings

#set (project_sourcesmain.cpp) #all sources files

Set (Library_output_path${project_source_dir}/lib)

Set (Executable_output_path${project_source_dir}/bin)

Include_directories (${project_source_dir}/include${cmake_current_binary_dir}) #to include ui_*.h generated byQT4_ WRAP_UI, you should include ${cmake_current_binary_dir}

Aux_source_directory (${project_source_dir}/src/project_sources)

########################################################

########################################################

#Generate Qt Files

Set (project_headers${project_source_dir}/include/qtvtkpcltest.h) #only HEADERS includeq_object

Qt4_wrap_cpp (Project_headers_moc${project_headers})

Set (project_ui${project_source_dir}/ui/qtvtkpcltest.ui) #ui file

QT4_WRAP_UI (project_ui_uic${project_ui})

#file (COPY ${project_ui_uic}destination ${project_source_dir}/include/) #copy ui_.h file Toinclude

#set (PROJECT_RC${PROJECT_SOURCE_DIR}/QRC) #resource files

#QT4_WRAP_RESOURCES (PROJECT_RC_RCC${PROJECT_RC})

########################################################

########################################################

#generate Executables Andlink Libraries

Add_executable (Qtvtkpcltest${project_sources} ${project_headers_moc} ${project_ui_uic}) #${PROJECT_RC_RCC})

Target_link_libraries (Qtvtkpcltest${qt_libraries} ${vtk_libraries} QVTK ${pcl_libraries}) #QVTKQVTKWidget for VTK in Qt

========================================================================

The Qtvtkpcltest.ui is:

========================================================================

<?xml version= "1.0" encoding= "UTF-8"?> <ui version= "4.0" > <class>MainWindow</class> <
widgetclass= "Qmainwindow" name= "MainWindow" > <propertyname= "Geometry" > <rect> <x>0</x> <y>0</y> <width>720</width>  

========================================================================



The main.cpp is:

========================================================================


#include <QApplication>
#include "QtVtkPCLTest.h"
int main (int argc, char**argv)
{
Qapplication app (ARGC,ARGV);
Qt_qtvtkpcltest qttest;
Qttest.show ();
return app.exec ();
}
 

========================================================================



The QtVtkPCLTest.h is:

========================================================================


#include <QtGui/QMainWindow>
#include <QString>
#include <QFileDialog>
#include "ui_ QtVtkPCLTest.h "
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ common/common.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <sensor_msgs/ Pointcloud2.h>
class Qt_qtvtkpcltest:public Qmainwindow
{
q_object public
:
qt_ Qtvtkpcltest ();
Public:
Ui::mainwindow Ui;
Boost::shared_ptr<pcl::visualization::P clvisualizer>m_pclviewer;
SENSOR_MSGS::P ointCloud2::P tr m_pointcloud2;
PCL::P OINTCLOUD<PCL::P ointxyz>::P tr m_pointcloudxyz;
PCL::P OINTCLOUD<PCL::P ointxyzrgba>::P tr M_pointcloudxyzrgba;
PCL::P OINTCLOUD<PCL::P ointxyzrgb>::P tr M_pointcloudxyzrgb;
PCL::P OINTCLOUD<PCL::P ointxyzi>::P tr M_pointcloudxyzi;
Public slots:
void Onloadpcdfile ();
 

 

========================================================================



The QtVtkPCLTest.cpp is:

========================================================================


#include "QtVtkPCLTest.h" Qt_qtvtkpcltest::qt_qtvtkpcltest (): M_pclviewer (newpcl::visualization::P Clvisualizer (" Test ", false),//mustset false to hide the PCL window m_pointcloud2 (newsensor_msgs::P ointCloud2 ()), M_POINTCLOUDXYZ ( NEWPCL::P OINTCLOUD&LT;PCL::P ointxyz>), M_pointcloudxyzrgb (NEWPCL::P OINTCLOUD&LT;PCL::P ointxyzrgb>), m_ Pointcloudxyzrgba (NEWPCL::P OINTCLOUD&LT;PCL::P ointxyzrgba>), M_pointcloudxyzi (NEWPCL::P OINTCLOUD&LT;PCL:: pointxyzi>) {ui.setupui (this); M_pclviewer->setbackgroundcolor (0.5,0.5, 0.5); this->ui.qvtkwidgettest-
>setrenderwindow (M_pclviewer->getrenderwindow ());
Connect (this->ui.pushbuttonloadpcd,signal (clicked ()), this, SLOT (Onloadpcdfile ())); } voidqt_qtvtkpcltest::onloadpcdfile () {//load PCD File QString strpath =qfiledialog::getopenfilename (this, tr ("Open
PCD File "),"/data/pcd_files ", tr (" PCD Files (*.PCD) "));
PCL::P Cdreader Reader; if (Reader.read (strpath.tostdstring (), *M_POINTCLOUD2) <0) {this->ui.statusbar->showmessage ("LoaD PCD File Error ");
Return
} std::string strfieldlist= pcl::getfieldslist (*M_POINTCLOUD2);
This->ui.statusbar->showmessage (QString ("PCD file:") +qstring::fromstdstring (strfieldlist));
Display PCD file This->m_pclviewer->removeallpointclouds (); if (Strfieldlist.compare ("X y z RGB") ==0) {pcl::io::loadpcdfile<pcl::P ointxyzrgb> (Strpath.tostdstring (), *m_
POINTCLOUDXYZRGB);
THIS-&GT;M_PCLVIEWER-&GT;ADDPOINTCLOUD&LT;PCL::P ointxyzrgb> (M_POINTCLOUDXYZRGB); } elseif (Strfieldlist.compare ("X y z rgba") ==0) {pcl::io::loadpcdfile<pcl::P ointxyzrgba> (Strpath.tostdstring (
), *m_pointcloudxyzrgba);
THIS-&GT;M_PCLVIEWER-&GT;ADDPOINTCLOUD&LT;PCL::P ointxyzrgba> (M_pointcloudxyzrgba); } elseif (Strfieldlist.compare ("X y z i") ==0) {pcl::io::loadpcdfile<pcl::P ointxyzi> (Strpath.tostdstring (), *m_
Pointcloudxyzi);
THIS-&GT;M_PCLVIEWER-&GT;ADDPOINTCLOUD&LT;PCL::P ointxyzi> (M_pointcloudxyzi); else {pcl::io::loadpcdfile<pcl::P ointxyz> (Strpath.tostdstring (), *m_pointcloudXYZ);
THIS-&GT;M_PCLVIEWER-&GT;ADDPOINTCLOUD&LT;PCL::P ointxyz> (M_POINTCLOUDXYZ);
 }
}
 

 

 

========================================================================