[ROS]3 Linux编程练习

第二讲 从图像到点云

exbot@ubuntu:~$ cd CodeLearn
exbot@ubuntu:~/CodeLearn$ cd Depth2PointCloud
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ mkdir bin include lib src build
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ touch CMakeLists.txt
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ touch src/generatePointCloud.cpp
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ touch src/CMakeLists.txt
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ cd build
exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cmake ..
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- checking for module 'eigen3'
--   found eigen3, version 3.2.7
-- Found eigen: /usr/include/eigen3
-- Boost version: 1.46.1
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- Found openni: /usr/lib/libOpenNI.so
-- Found libusb-1.0: /usr/include
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/lib/libpcl_common.so
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/lib/libpcl_octree.so
-- looking for PCL_IO
-- Found PCL_IO: /usr/lib/libpcl_io.so
-- Found PCL: /usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;pthread;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;/usr/lib/libboost_serialization-mt.so;optimized;/usr/lib/libpcl_common.so;debug;/usr/lib/libpcl_common.so;optimized;/usr/lib/libpcl_octree.so;debug;/usr/lib/libpcl_octree.so;/usr/lib/libOpenNI.so;vtkCommon;vtkRendering;vtkHybrid;vtkCharts;optimized;/usr/lib/libpcl_io.so;debug;/usr/lib/libpcl_io.so;/usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;pthread;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;/usr/lib/libboost_serialization-mt.so;/usr/lib/libOpenNI.so;vtkCommon;vtkRendering;vtkHybrid;vtkCharts
-- Configuring done
WARNING: Target "generate_pointcloud" requests linking to directory "/usr/lib".  Targets may link only to libraries.  CMake is dropping the item.
-- Generating done
-- Build files have been written to: /home/exbot/CodeLearn/Depth2PointCloud/build
exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ make
Scanning dependencies of target generate_pointcloud
[100%] Building CXX object src/CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o
Linking CXX executable ../../bin/generate_pointcloud
[100%] Built target generate_pointcloud
exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ '/home/exbot/CodeLearn/Depth2PointCloud/bin/generate_pointcloud'
point cloud size = 0
terminate called after throwing an instance of 'pcl::IOException'
what():  : [pcl::PCDWriter::writeASCII] Input point cloud has no data!
Aborted (core dumped)
exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cd ,,/
bash: cd: ,,/: No such file or directory
exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cd ../
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ bin/generate_pointcloud
point cloud size = 204186
Point cloud saved.
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ pcl_viewer data/pointcloud.pcd
The viewer window provides interactive commands; for help, press 'h' or 'H' from within the window.
> Loading data/pointcloud.pcd [done, 3750 ms : 204186 points]
Available dimensions: x y z rgba