[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
 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.
 -- Found eigen: /usr/include/eigen3
 -- Boost version: 1.46.
 -- 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
 [%] Building CXX object src/CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o
 Linking CXX executable ../../bin/generate_pointcloud
 [%] Built target generate_pointcloud
 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ '/home/exbot/CodeLearn/Depth2PointCloud/bin/generate_pointcloud'
 point cloud size =
 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 =
 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,  ms :  points]
 Available dimensions: x y z rgba