[ROS]3 Linux编程练习

一起做RGB-SLAM（2）实验

第二讲 从图像到点云

http://www.cnblogs.com/gaoxiang12/p/4652478.html

exbot@ubuntu:~$ cd CodeLearn  2 exbot@ubuntu:~/CodeLearn$ cd Depth2PointCloud  3 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ mkdir bin include lib src build  4 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ touch CMakeLists.txt  5 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ touch src/generatePointCloud.cpp  6 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ touch src/CMakeLists.txt  7 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ cd build  8 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cmake ..  9 -- The C compiler identification is GNU 10 -- The CXX compiler identification is GNU 11 -- Check for working C compiler: /usr/bin/gcc 12 -- Check for working C compiler: /usr/bin/gcc -- works 13 -- Detecting C compiler ABI info 14 -- Detecting C compiler ABI info - done 15 -- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works 17 -- Detecting CXX compiler ABI info 18 -- Detecting CXX compiler ABI info - done 19 -- checking for module 'eigen3'
--   found eigen3, version 3.2.7
-- Found eigen: /usr/include/eigen3 22 -- Boost version: 1.46.1
-- Found the following Boost libraries: 24 -- system 25 -- filesystem 26 -- thread 27 -- date_time 28 -- iostreams 29 -- serialization 30 -- checking for module 'openni-dev'
--   package 'openni-dev' not found 32 -- Found openni: /usr/lib/libOpenNI.so 33 -- Found libusb-1.0: /usr/include 34 -- looking for PCL_COMMON 35 -- Found PCL_COMMON: /usr/lib/libpcl_common.so 36 -- looking for PCL_OCTREE 37 -- Found PCL_OCTREE: /usr/lib/libpcl_octree.so 38 -- looking for PCL_IO 39 -- Found PCL_IO: /usr/lib/libpcl_io.so 40 -- 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 41 -- Configuring done 42 WARNING: Target "generate_pointcloud" requests linking to directory "/usr/lib".  Targets may link only to libraries.  CMake is dropping the item. 43 -- Generating done 44 -- Build files have been written to: /home/exbot/CodeLearn/Depth2PointCloud/build 45 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ make 46 Scanning dependencies of target generate_pointcloud 47 [100%] Building CXX object src/CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o 48 Linking CXX executable ../../bin/generate_pointcloud 49 [100%] Built target generate_pointcloud 50 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) 55 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cd ,,/
bash: cd: ,,/: No such file or directory 57 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cd ../
exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ bin/generate_pointcloud 59 point cloud size = 204186
Point cloud saved. 61 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ pcl_viewer data/pointcloud.pcd 62 The viewer window provides interactive commands; for help, press 'h' or 'H' from within the window. 63 > Loading data/pointcloud.pcd [done, 3750 ms : 204186 points] 64 Available dimensions: x y z rgba