This document provides instructions for installing and building the Point Cloud Library (PCL) on an Ubuntu system. It outlines downloading dependencies using apt-get, adding a PCL PPA repository, cloning the PCL GitHub repository, and running cmake and make to build and install PCL. The document also lists some related topics like PostgreSQL, Kinect, deep learning frameworks, robot simulators, and motion planning software that can be used with PCL.

1. M1
2017/1/12

2. Robotics Laboratory
2
Wakayama University Graduate School of System Engineering Robotics Laboratory
PCL Point Cloud Library

3. Robotics Laboratory
3
Wakayama University Graduate School of System Engineering Robotics Laboratory
PCL 1/3
PCL Point Cloud Library
◆
sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

4. Robotics Laboratory
4
Wakayama University Graduate School of System Engineering Robotics Laboratory
PCL 2/3
PCL Point Cloud Library
◆PCL
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
git clone https://github.com/PointCloudLibrary/pcl.git
◆PCL
mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr
-DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON
-DCMAKE_INSTALL_PREFIX=/usr ..
make

5. Robotics Laboratory
5
Wakayama University Graduate School of System Engineering Robotics Laboratory
PCL 3/3

6. ✴
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory

7. Robotics Laboratory
7
Wakayama University Graduate School of System Engineering Robotics Laboratory
PostgreSQL
PCL
Kinect
Kinect
PCL

8. Robotics Laboratory
8
Wakayama University Graduate School of System Engineering Robotics Laboratory
✴
✴
> > > > >
>
✴ 3 Kinect
✴ CNN
✴ Tensor Flow / Caffe Deep Learning
✴ MORSE Simulator
✴ Description Logic
✴ SQUID | SLERP
MoveIt!