We use the Point Coud Library (PCL) for 2D/3D image and point cloud processing. Official download page: link
- First install OpenNI2 & NiTE2 for Xtion Pro Live support.
For Trusty and similar versions, we need to add the jochen-sprickerhof PPA [ref], while VTK is available directly as part of universe
[ref].
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt update
sudo apt install libpcl-all libpcl-all-dev
sudo apt install libopenni-sensor-primesense0 # no pcl-tools here; and libopenni-sensor-pointclouds0 cannot be installed simultaneously.
For Utopic and similar versions, we need to add the jochen-sprickerhof PPA [ref].
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt update
sudo apt install libpcl-dev
sudo apt install pcl-tools # no sensor here, but libopenni-sensor-primesense0 may be found elsewhere
PCL is available directly as part of universe
in modern Ubuntu distros [ref].
sudo apt install libpcl-dev # depends: libvtk6-dev
Developers may find obscure No rule to make target '/usr/lib/x86_64-linux-gnu/libproj.so'
errors in their PCL-dependent applications, this is due to a known bug. Workaround (SO answer):
sudo apt install libproj-dev
Besides, remove a superfluous vtkproj4
item from the list of PCL libraries in your CMake code:
find_package(PCL 1.7) # you probably have this around somewhere
# add these lines afterwards
if(DEFINED PCL_LIBRARIES)
list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
endif()
See also PointCloudLibrary/pcl#2406 (linker error in case new point types are added).
Link: install from source.
No official ppa, install CUDA, then install from source setting additional flags to get pcl_kinfu_largeScale
, pcl_kinfu_largeScale_mesh_output
, pcl_kinfu_largeScale_texture_output
.
See additional info here.