一起做RGB-SLAM（2）实验

第二讲 从图像到点云

1 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 GNU10 -- The CXX compiler identification is GNU11 -- Check for working C compiler: /usr/bin/gcc12 -- Check for working C compiler: /usr/bin/gcc -- works13 -- Detecting C compiler ABI info14 -- Detecting C compiler ABI info - done15 -- Check for working CXX compiler: /usr/bin/c++16 -- Check for working CXX compiler: /usr/bin/c++ -- works17 -- Detecting CXX compiler ABI info18 -- Detecting CXX compiler ABI info - done19 -- checking for module 'eigen3'20 --   found eigen3, version 3.2.721 -- Found eigen: /usr/include/eigen3 22 -- Boost version: 1.46.123 -- Found the following Boost libraries:24 --   system25 --   filesystem26 --   thread27 --   date_time28 --   iostreams29 --   serialization30 -- checking for module 'openni-dev'31 --   package 'openni-dev' not found32 -- Found openni: /usr/lib/libOpenNI.so 33 -- Found libusb-1.0: /usr/include 34 -- looking for PCL_COMMON35 -- Found PCL_COMMON: /usr/lib/libpcl_common.so 36 -- looking for PCL_OCTREE37 -- Found PCL_OCTREE: /usr/lib/libpcl_octree.so 38 -- looking for PCL_IO39 -- 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 done42 WARNING: Target "generate_pointcloud" requests linking to directory "/usr/lib".  Targets may link only to libraries.  CMake is dropping the item.43 -- Generating done44 -- Build files have been written to: /home/exbot/CodeLearn/Depth2PointCloud/build45 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ make46 Scanning dependencies of target generate_pointcloud47 [100%] Building CXX object src/CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o48 Linking CXX executable ../../bin/generate_pointcloud49 [100%] Built target generate_pointcloud50 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ '/home/exbot/CodeLearn/Depth2PointCloud/bin/generate_pointcloud' 51 point cloud size = 052 terminate called after throwing an instance of 'pcl::IOException'53   what():  : [pcl::PCDWriter::writeASCII] Input point cloud has no data!54 Aborted (core dumped)55 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cd ,,/56 bash: cd: ,,/: No such file or directory57 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cd ../58 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ bin/generate_pointcloud59 point cloud size = 20418660 Point cloud saved.61 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ pcl_viewer data/pointcloud.pcd62 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