PCL1.8 & OPENNI2.0 & OPENCV3.0安装小结

PCL 1.8+ OPENCV3.1 + OPENNI2.0在ubuntu14.04 上的安装与编译。

更新ubuntu的armhf源，修改source.list，中科大的快！

deb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty main restricted universe multiversedeb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-security main restricted universe multiversedeb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-updates main restricted universe multiversedeb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-proposed main restricted universe multiversedeb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-backports main restricted universe multiversedeb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty main restricted universe multiversedeb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-security main restricted universe multiversedeb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-updates main restricted universe multiversedeb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-proposed main restricted universe multiversedeb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-backports main restricted universe multiverse

一、  Opencv

这个网上有很多教程，

1. 安装依赖包和预备环境

$sudo apt-get install build-essential$sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev$sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

2.从官网下载opencv3.1源码，并解压

3.创建编译目录，编译

$cd ~/opencv-3.1.0$mkdir release$cd release$cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..$make$sudo make install

4.测试opencv

$mkdir ~/opencv-lena$cd ~/opencv-lena$gedit DisplayImage.cpp

#include <stdio.h>#include <opencv2/opencv.hpp>using namespace cv;int main(int argc, char** argv ){  if ( argc != 2 )  {    printf("usage: DisplayImage.out <Image_Path>\n");    return -1;  }  Mat image;  image = imread( argv[1], 1 );  if ( !image.data )  {    printf("No image data \n");    return -1;  }  namedWindow("Display Image", WINDOW_AUTOSIZE );  imshow("Display Image", image);  waitKey(0);  return 0;}

创建cmakelist编译文件

cmake_minimum_required(VERSION 2.8)project( DisplayImage )find_package( OpenCV REQUIRED )add_executable( DisplayImage DisplayImage.cpp )target_link_libraries( DisplayImage ${OpenCV_LIBS} )

执行：

$cd ~/opencv-lena$cmake .$make

$./DisplayImage lena.jpg

至此opencv配置完毕

 

二、openni2.0

以下内容是我在youtube上看到的视频：

https://www.youtube.com/watch?v=Bn9WqbYtNBw

 

1.安装 OpenNI2依赖项

$sudo apt-get install -y g++ python libusb-1.0-0-dev freeglut3-dev doxygen graphviz$sudo apt-get install libudev-dev

2.从github将openni2源码clone下来

$git clone https://github.com/occipital/OpenNI2.git$cd OpenNI2

3.修改两处配置Platform.Arm和CommonCppMakefile，适用于arm设备

$gedit ThirdParty/PSCommon/BuildSystem/Platform.Arm

Change:

CFLAGS+= -march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=softfp#-mcpu=cortex-a8

to:

CFLAGS+= -march=armv7-a -mtune=cortex-a15 -mfpu=neon-vfpv4 -mfloat-abi=hard

$gedit ThirdParty/PSCommon/BuildSystem/CommonCppMakefile

---OpenNI2-2.2.0.30/ThirdParty/PSCommon/BuildSystem/CommonCppMakefile.old2014-03-28 19:09:11.572263107 -0700

+++OpenNI2-2.2.0.30/ThirdParty/PSCommon/BuildSystem/CommonCppMakefile 2014-03-2819:09:55.600261937 -0700

@@-95,6 +95,9 @@

OUTPUT_NAME= $(EXE_NAME)

# Wewant the executables to look for the .so‘s locally first:

LDFLAGS+= -Wl,-rpath ./

+ifneq ("$(OSTYPE)","Darwin")

+LDFLAGS += -lpthread

+endif

OUTPUT_COMMAND= $(CXX) -o $(OUTPUT_FILE) $(OBJ_FILES) $(LDFLAGS)

endif

ifneq "$(SLIB_NAME)" ""

4.修改makefile，增加sample，即在makefile文件末尾添加：

core_samples: $(CORE_SAMPLES)tools: $(ALL_TOOLS)

5.编译

$make$make core_samples # this probably isn‘t necessary, they should already be built$GLUT_SUPPORTED=1 make tools#GLUT_SUPPORTED tells the make to compile NiViewer for OpenGL

6.安装libfreenect，否则无法驱动primesensor

安装依赖项

$sudo apt-get install cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev –y

下载源码并编译

$ git clone git://github.com/OpenKinect/libfreenect.git$ cd libfreenect$ mkdir build$ cd build$ cmake ..$ make$ sudo make install# Build the OpenNI2 driver$ cmake .. -DBUILD_OPENNI2_DRIVER=ON$ make

将libfreenect的so拷贝到OpenNI的驱动文件夹下

$ Repository=../../Bin/Arm-Release/OpenNI2/Drivers$ cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver* ${Repository}

设置使用传感器的权限

$ sudo usermod -a -G video Ubuntu

7.回到openni2目录，将头文件和so文件拷贝到/usr目录下

$ sudo cp -r Include /usr/include/openni2$ sudo cp -r Bin/Arm-Release/OpenNI2 /usr/lib/$ sudo cp Bin/Arm-Release/libOpenNI2.* /usr/lib/

8.创建packageconfig文件

# this will enable ubuntu to find the location of the drivers, libraries and include files.$ sudo gedit /usr/lib/pkgconfig/libopenni2.pcand fill it with this:prefix=/usrexec_prefix=${prefix}libdir=${exec_prefix}/libincludedir=${prefix}/include/openni2Name: OpenNI2Description: A general purpose driver for all OpenNI cameras.Version: 2.2.0.0Cflags: -I${includedir}Libs: -L${libdir} -lOpenNI2 -L${libdir}/OpenNI2/Drivers -lDummyDevice -lOniFile -lPS1080.so

检验：

# To make sure it is correctly found, run$ pkg-config --modversion libopenni2# which should give the same version as defined in the file above (2.2.0.0)

最后一步：

# Linux has used the udev system to handle devices such as USB connected peripherals.$ cd Packaging/Linux$ sudo cp primesense-usb.rules /etc/udev/rules.d/557-primesense-usb.rules

翻译的如果卡不懂和其他注意事项，

请直接看：http://jetsonhacks.com/2014/08/28/building-openni2-structure-sensor/

运行结果：

三、PCL安装

参考：

http://larrylisky.com/2014/03/03/installing-pcl-on-ubuntu/

安装依赖环境

sudo apt-get install g++sudo apt-get install cmake cmake-guisudo apt-get install doxygen  sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  sudo apt-get install libflann1 libflann-devsudo apt-get install libeigen3-devsudo apt-get install libboost-all-devsudo apt-get install libvtk5.8-qt4 libvtk5.8 libvtk5-devsudo apt-get install libqhull*sudo apt-get install libusb-devsudo apt-get install libgtest-devsudo apt-get install git-core freeglut3-dev pkg-configsudo apt-get install build-essential libxmu-dev libxi-dev sudo apt-get install libusb-1.0-0-dev graphviz mono-completesudo apt-get install qt-sdk openjdk-7-jdk openjdk-7-jresudo apt-get install phonon-backend-gstreamersudo apt-get install phonon-backend-vlc

从github上下载pcl最新版本并编译

$git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk ln -s pcl-trunk pcl(我是直接下载了压缩包，解压的，不然太慢了)$mkdir release$cd release$cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..$make$sudo make install

至此完成安装，但是是VTK有问题的，留着下次解决

四、最后再给出三个库同时使用的情形：

CMakeLists.txt

# This CmakeLists include both OpenNI and OpenCV Librariescmake_minimum_required(VERSION 2.8)project( TestOpenNI )# OpenCVfind_package( OpenCV REQUIRED )include_directories( ${OpenCV_INCLUDE_DIRS} )MESSAGE(STATUS "The Opencv‘s include directory is:" ${OpenCV_INCLUDE_DIRS})#OpenNIFIND_PATH(OpenNI2_INCLUDE_DIRS OpenNI.h HINTS  $ENV{OPENNI2_INCLUDE} PATH_SUFFIXES openni2)FIND_LIBRARY(OpenNI2_LIBRARY NAMES OpenNI2 HINTS  $ENV{OPENNI2_LIB} $ENV{OPENNI2_REDIST})include_directories( ${OpenNI2_INCLUDE_DIRS} )IF (OpenNI2_INCLUDE_DIRS AND OpenNI2_LIBRARY)   SET(OpenNI2_FOUND TRUE)ENDIF (OpenNI2_INCLUDE_DIRS AND OpenNI2_LIBRARY)IF (OpenNI2_FOUND)   # show which OpenNI2 was found only if not quiet   SET(OpenNI2_LIBRARIES ${OpenNI2_LIBRARY})   MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_LIBRARIES}")ELSE (OpenNI2_FOUND)   # fatal error if OpenNI2 is required but not found   IF (OpenNI2_FIND_REQUIRED)      MESSAGE(FATAL_ERROR "Could not find OpenNI2. Environment variables OPENNI2_INCLUDE (directory containing OpenNI.h) and OPENNI2_LIB (directory containing OpenNI2 library) could bet set.")   ENDIF (OpenNI2_FIND_REQUIRED)ENDIF (OpenNI2_FOUND)#set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")#set (OPENNI_H /usr/include/openni2/OpenNI.h)# ---------------------------------------------------------#PCLfind_package(PCL 1.8 REQUIRED)include_directories(${PCL_INCLUDE_DIRS})link_directories(${PCL_LIBRARY_DIRS})add_definitions(${PCL_DEFINITIONS})add_executable(TestOpenNI test.cpp)target_link_libraries(TestOpenNI ${OpenNI2_LIBRARIES} ${OpenCV_LIBS} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})

c++文件：

#include <pcl/io/pcd_io.h>#include <pcl/io/ply_io.h>#include <pcl/point_types.h>// 标准库头文件#include <iostream>#include <string>#include <vector> // OpenCV头文件#include <opencv2/photo.hpp>#include <opencv2/highgui.hpp> // OpenNI头文件#include <OpenNI.h> typedef unsigned char uint8_t;// namespaceusing namespace std;using namespace openni;using namespace cv;using namespace pcl;void CheckOpenNIError( Status result, string status )  {       if( result != STATUS_OK )           cerr << status << " Error: " << OpenNI::getExtendedError() << endl;  } int main( int argc, char **argv ){Status result = STATUS_OK;int i,j;float x=0.0,y=0.0,z=0.0,xx=0.0;  //IplImage *test,*test2;IplImage *test2;char filename[20] = {0};//point cloud PointCloud<PointXYZ> cloud;PointCloud<PointXYZRGB> color_cloud;//opencv imageMat cvBGRImg; Mat cvDepthImg;  //OpenNI2 image      VideoFrameRef oniDepthImg;      VideoFrameRef oniColorImg;namedWindow("depth");      namedWindow("image"); char key=0;// 初始化OpenNI      result = OpenNI::initialize();CheckOpenNIError( result, "initialize context" );     // open device        Device device;      result = device.open( openni::ANY_DEVICE ); CheckOpenNIError( result, "open device" );    // create depth stream       VideoStream oniDepthStream;      result = oniDepthStream.create( device, openni::SENSOR_DEPTH );CheckOpenNIError( result, "create depth stream" );      // set depth video mode      VideoMode modeDepth;      modeDepth.setResolution( 640, 480 );      modeDepth.setFps( 30 );      modeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_1_MM );      oniDepthStream.setVideoMode(modeDepth);      // start depth stream      result = oniDepthStream.start(); CheckOpenNIError( result, "start depth stream" );       // create color stream      VideoStream oniColorStream;      result = oniColorStream.create( device, openni::SENSOR_COLOR );  CheckOpenNIError( result, "create color stream" );    // set color video mode      VideoMode modeColor;      modeColor.setResolution( 640, 480 );      modeColor.setFps( 30 );      modeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );      oniColorStream.setVideoMode( modeColor); // start color stream      result = oniColorStream.start(); CheckOpenNIError( result, "start color stream" );int count = 0;while(true){// read frame          if( oniColorStream.readFrame( &oniColorImg ) == STATUS_OK )          {              // convert data into OpenCV type              Mat cvRGBImg( oniColorImg.getHeight(), oniColorImg.getWidth(), CV_8UC3, (void*)oniColorImg.getData() );              cvtColor( cvRGBImg, cvBGRImg, CV_RGB2BGR );              imshow( "image", cvBGRImg );          }  if( oniDepthStream.readFrame( &oniDepthImg ) == STATUS_OK )          {              Mat cvRawImg16U( oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData() );              cvRawImg16U.convertTo( cvDepthImg, CV_8U, 255.0/(oniDepthStream.getMaxPixelValue()));                imshow( "depth", cvDepthImg );          } char input = waitKey(1); // quit        if( input == ‘q‘ )                  break;// capture  depth and color data           if( input == ‘c‘ ){//get dataDepthPixel *pDepth = (DepthPixel*)oniDepthImg.getData();//create point cloudcloud.width = oniDepthImg.getWidth();cloud.height = oniDepthImg.getHeight();cloud.is_dense = false;cloud.points.resize(cloud.width * cloud.height);color_cloud.width = oniDepthImg.getWidth();color_cloud.height = oniDepthImg.getHeight();color_cloud.is_dense = false;color_cloud.points.resize(color_cloud.width * color_cloud.height);//test = cvCreateImage(cvSize(cloud.width,cloud.height),IPL_DEPTH_8U,3);IplImage temp11 = (IplImage)cvBGRImg;//test2 = &IplImage(cvBGRImg);test2 = &temp11;for(i=0;i<oniDepthImg.getHeight();i++){ for(j=0;j<oniDepthImg.getWidth();j++) { float k = i;   float m = j;  xx = pDepth[i*oniDepthImg.getWidth()+j]; CoordinateConverter::convertDepthToWorld (oniDepthStream,m,k,xx,&x,&y,&z);  cloud[i*cloud.width+j].x = x/1000; cloud[i*cloud.width+j].y = y/1000; cloud[i*cloud.width+j].z = z/1000; color_cloud[i*cloud.width+j].x = x/1000; color_cloud[i*cloud.width+j].y = y/1000; color_cloud[i*cloud.width+j].z = z/1000; color_cloud[i*cloud.width+j].b = (uint8_t)test2->imageData[i*test2->widthStep+j*3+0]; color_cloud[i*cloud.width+j].g = (uint8_t)test2->imageData[i*test2->widthStep+j*3+1]; color_cloud[i*cloud.width+j].r = (uint8_t)test2->imageData[i*test2->widthStep+j*3+2];/* test->imageData[i*test->widthStep+j*3+0] = test2->imageData[i*test2->widthStep+j*3+0]; test->imageData[i*test->widthStep+j*3+1] = test2->imageData[i*test2->widthStep+j*3+1]; test->imageData[i*test->widthStep+j*3+2] = test2->imageData[i*test2->widthStep+j*3+2];*/ }    }//cvSaveImage("test.jpg",test);//pcl::io::savePLYFileBinary("test_plyc.ply",cloud);cout<<"the "<<count<<" is saved"<<endl;sprintf(filename,"./data/%d.pcd",count);pcl::io::savePCDFileBinaryCompressed(filename,cloud);cerr<<"Saved "<<cloud.points.size()<<" data points to xyz pcd."<<endl;sprintf(filename,"./data/color_%d.pcd",count);pcl::io::savePCDFileBinaryCompressed(filename,color_cloud);cerr<<"Saved "<<color_cloud.points.size()<<" data points to xyzrgb pcd."<<endl;sprintf(filename,"./data/color_%d.jpg",count);imwrite(filename,cvBGRImg);sprintf(filename,"./data/depth_%d.jpg",count++);imwrite(filename,cvDepthImg);/*for(size_t i=0;i<cloud.points.size();++i)cerr<<"    "<<cloud.points[i].x<<" "<<cloud.points[i].y<<" "<<cloud.points[i].z<<endl;*/}}}

运行结果：

键盘输入c抓取数据，按q退出