[ROS]3 Linux编程练习

合集 - SLAM(55)

1.个人资源索引2018-03-032.SLAM学习笔记（1）基本概念2015-08-063.SLAM学习笔记（2）SLAM算法2015-08-214.[ROS]2 尝试编译OrbSLAM2016-01-185.[ROS]1 小乌龟2016-01-186.SLAM最近的工作2015-11-057.SLAM学习笔记（3）相关概念2015-09-168.[SLAM]2D激光线特征提取2016-07-169.[SLAM] GMapping SLAM源码阅读（草稿）2016-07-0110.[QGLViewer]First Demo2016-06-2911.SLAM数据集2016-06-2312.[SLAM]2D激光扫描匹配方法2016-06-1513.[g2o]一个备忘2016-04-2114.[ROS] slam_gmapping2016-01-24

15.[ROS]3 Linux编程练习2016-01-20

16.Linux学习和ROS安装（1）2017-12-1917.小豆包的学习之旅：机器人定位2017-05-0218.小豆包的学习之旅：传感器观测模型2017-04-2119.Kinect2.0相机标定2017-04-1020.小豆包的学习之旅：里程计运动模型2017-04-0321.小豆包的学习之旅：入门篇2017-04-0222.Kinect2.0点云数据获取2017-03-3023.[硬件]Robot运动控制2017-03-2224.[硬件]Urg_viewer数据读取2017-03-1425.[硬件]三维点云数据获取2017-03-0426.Kinect2.0获取数据2017-02-1527.ndt histogram_direction2016-09-0828.rplidar & hector slam without odometry2016-08-2629.rplidar测试2016-08-1230.[原创]NDT方法在SLAM中的应用2016-08-0831.[SLAM]Karto SLAM算法学习（草稿）2016-07-2232.ROS学习备忘2018-07-1833.[ROS]激光驱动安装2018-07-1634.OrbSLAM2采集点云数据2018-03-2635.Cartographer源码阅读(8)：imu_tracker2018-03-2136.[硬件]点云数据采集22018-03-1937.Cartographer源码阅读(9)：图优化的前端——闭环检测2018-03-0838.Cartographer源码阅读(7)：轨迹推算和位姿推算的原理2018-03-0839.Ethzasl MSF源码阅读(3)：MSF_Core和PoseMeasurement2018-03-0740.Ethzasl MSF源码阅读(2)：百川汇海2018-03-0641.Ethzasl MSF源码阅读(1)：程序入口和主题订阅2018-03-0442.Cartographer源码阅读(6)：LocalTrajectoryBuilder和PoseExtrapolator2018-02-2543.Cartographer源码阅读(5)：PoseGraph位姿图2018-02-2444.Cartographer源码阅读(4)：Node和MapBuilder对象22018-01-1045.Cartographer源码阅读(3)：程序逻辑结构2017-12-2946.Cartographer源码阅读(2)：Node和MapBuilder对象2017-12-2847.Cartographer源码阅读(1)：程序入口2017-12-2848.实时Cartographer测试(1) - rplidar2017-12-2149.Cartographer安装2017-12-2050.ROS安装（2）2017-12-2051.[ROS]一些传感器数据读取融合问题的思考2017-05-0652.小豆包的学习之旅：占用概率栅格地图和cost-map2017-05-0253.小豆包的学习之旅：开发记录2017-04-2954.[概述]移动机器人自主探索2017-04-1855.MRPT编译2017-04-14

收起

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 3.2.7
-- Found eigen: /usr/include/eigen3 
-- Boost version: 1.46.1
-- 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
[100%] Building CXX object src/CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o
Linking CXX executable ../../bin/generate_pointcloud
[100%] Built target generate_pointcloud
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)
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 = 204186
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, 3750 ms : 204186 points]
Available dimensions: x y z rgba