[Part 3] 在Ubuntu 16.04源码编译PCL 1.8.1支持VTK和QT

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Part-3: Install and Configure PCL 1.8.1 with vtk qt support on Ubuntu 16.04 from source

Series

• Part-1: Install and Configure Qt5 on Ubuntu 16.04
• Part-2: Install and Configure VTK 8.1.0 from source with Qt5 on Ubuntu 16.04
• Part-3: Install and Configure PCL 1.8.1 with vtk qt support on Ubuntu 16.04 from source
• Part-4: Install and Configure PCL 1.8.1 with vtk qt support on windows 10 from source

Guide

• qt: 5.7.0
• qmake: 3.0
• qtcreator: 3.5.1
• vtk: 8.1.0 (source)
• pcl :1.8.1 (source)

Setup Prerequisites

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-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common sudo apt-get install libpcap-dev
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libopenni2-dev
sudo apt-get install libqhull7 libqhull-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


dropped

sudo apt-get install qt-sdk
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
sudo apt-get install vtk6 libvtk6-dev libvtk6-qt-dev


Notice for vtk version.

metslib

for cmake error:

no metslib found.


fix by

wget https://www.coin-or.org/download/source/metslib/metslib-0.5.3.tgz
tar xzvf metslib-0.5.3.tgz
cd metslib-0.5.3
./configure
make
sudo make install


glxinfo

install

sudo apt-get install mesa-utils
glxinfo


possible error

X Error of failed request: BadRequest (invalid request code or no such operation)
Major opcode of failed request: 154 (GLX)
Minor opcode of failed request: 34 ()
Serial number of failed request: 34
Current serial number in output stream: 33


fix,make sure NVIDIA drivers are installed successfully and no conflict.

check display OpenGL info

$ glxinfo | grep OpenGLOpenGL vendor string: NVIDIA Corporation
OpenGL renderer string: GeForce GTX 1060/PCIe/SSE2
OpenGL core profile version string: 4.5.0 NVIDIA 384.90
OpenGL core profile shading language version string: 4.50 NVIDIA
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 4.5.0 NVIDIA 384.90
OpenGL shading language version string: 4.50 NVIDIA
OpenGL context flags: (none)
OpenGL profile mask: (none)
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 384.90
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
OpenGL ES profile extensions:


It means we use OpenGL version 4.5.0 for NVIDIA display.

Or by nvidia-settings, NVIDIA X Server Settings--> X Screen 0 --> OpenGL/GLX Information.

compile

wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.1.tar.gz cd pcl
mkdir build
cd build
cmake-gui ..


with options

QT_USE_FILE /home/kezunlin/program/pcl-1.8.1/build/use-qt5.cmake VTK_DIR /usr/local/lib/cmake/vtk-8.1 CMAKE_BUILD_TYPE Release
CMAKE_CONFIGURATION_TYPES Release
CMAKE_INSTALL_PREFIX /usr/local PCL_SHARED_LIBS ON
PCL_QT_VERSION 5
PCL_ENABLE_SSE ON Build_visualization ON
Build_apps ON
Build_examples OFF # error may occur


Using CPU native flags for SSE optimization: -march=native

make and install

# it may take several minutes, wait ...
make -j8
sudo make -j8 install


cmake install to /usr/local/bin, /usr/local/lib/, /usr/local/include/pcl-1.8

PCL_DIR will be /usr/local/share/pcl-1.8

error for example

/home/kezunlin/program/pcl-1.8.1/examples/segmentation/example_cpc_segmentation.cpp:493:17: error: ‘class vtkUnsignedCharArray’ has no member named ‘InsertNextTupleValue’
colors->InsertNextTupleValue (color);


so cmake with options

Build_examples OFF


Test pcl_viewer

test pcl_viewer

/usr/local/bin/pcl_viewer ~/program/pcl-1.8.1/test/car6.pcd


Success.

Tips: screen snapshot by gnome-screenshot -a.

Cloud Viewer

cloud_viewer.cpp

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>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 ()
{
// car6 x y z
// colored_cloud x y z rbga
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::io::loadPCDFile ("colored_cloud.pcd", *cloud); pcl::visualization::CloudViewer viewer("Cloud Viewer"); //blocks until the cloud is actually rendered
viewer.showCloud(cloud); //use the following functions to get access to the underlying more advanced/powerful
//PCLVisualizer //This will only get called once
viewer.runOnVisualizationThreadOnce (viewerOneOff); //This will get called once per visualization iteration
viewer.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;
}/*
http://pointclouds.org/documentation/tutorials/cloud_viewer.php
http://pointclouds.org/documentation/tutorials/pcl_visualizer.php
http://docs.pointclouds.org/1.7.0/structpcl_1_1_point_x_y_z_r_g_b.html
*/


CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)project(cloud_viewer)# set bin folder
set(CMAKE_BINARY_DIR ${CMAKE_SOURCE_DIR}/bin)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR})find_package(PCL 1.8.1 REQUIRED)#message( [***] ${PCL_INCLUDE_DIRS})
#message( [***] ${PCL_LIBRARY_DIRS})
#message( [***] ${PCL_DEFINITIONS})
#message( [***] ${PCL_LIBRARIES})include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})add_executable (cloud_viewer cloud_viewer.cpp)
target_link_libraries (cloud_viewer ${PCL_LIBRARIES})


compile

mkdir build
cd build
cmake ..
make


run demo

bin folder

$ tree bin/bin/
├── cloud_viewer
└── colored_cloud.pcd0 directories, 2 files


run demo

./cloud_viewer


Code Example

Pcd write

see Part-4: Install and Configure PCL 1.8.1 with vtk qt support on windows 10 from source

Reference

• compile pcl on posix
• pcl on ubuntu 16.04
• compile pcl on windows
• vcpkg

for windows

• compiling pcl on windows
• compiling pcl dependencies on windows
• coding pcl viewer
• SSE AES

History

• 20180105: created.
• 20180227: rewrite pcl compile part.

Copyright

• Post author: kezunlin
• Post link: https://kezunlin.me/post/137aa5fc/
• Copyright Notice: All articles in this blog are licensed under CC BY-NC-SA 3.0 unless stating additionally.