Compile PCL + OpenCV + librealsense2

Summary

So in this post, i’ll compile PCL + OpenCV + librealsense2 from source.

Requirement

• OS : Ubuntu 18.04
• Opencv version : 4.1.0
• Cuda : 10.1
• Python : 3.6, Anaconda
• Realsense D435
• librealsense : 2.24
• PCL : 1.9

Procedure

OpenCV 4.1.0 with cuda

Please see Compile OpenCV from source for Ubuntu with Cuda, Atlas

PCL 1.9

• clone the opencv-4.1.0_cu10 cu10 into pcl environment

conda create --name pcl --clone opencv-4.1.0_cu10
conda activate pcl

• compile pcl from source

# At August 2019, i can not access the below respo
# ppa:v-launchpad-jochen-sprickerhof-de/pcl
# so i need to compile pcl from source


## pcl dependencies
### others
sudo apt -y install libflann libboost-all-dev libeigen3-dev
### vtk 8.2.0
wget https://www.vtk.org/files/release/8.2/VTK-8.2.0.tar.gz
tar xfv VTK-8.2.0.tar.gz 
cd VTK-8.2.0/
mkdir build
cd build/
cmake ..
make -j5
sudo make install


### pcl
git clone https://github.com/PointCloudLibrary/pcl
cd pcl/
mkdir build
cd build/
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
cmake ..
sudo make install

• test pcl

Use the pcl_visualizer as test code. CMakeLists.txt and source code both are available. If we want to use pcl with Eclipse, we should follow Using PCL with Eclipse . There’s other example at turorials

librealsense2 + python wrapper + pcl

# activate python env
conda activate pcl
# librealsense 2 + python wrapper
cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=$(which python) -DBUILD_PCL_EXAMPLES=true
make -j4
sudo make install

# copy librealsense2 to python environment
cp wrappers/python/pyrealsense2.cpython-37m-x86_64-linux-gnu.so /home/jil/opt/miniconda2/envs/pcl/lib/python3.7/site-packages/pyrealsense2.so 

• test librealsense2 + python wrapper

i use the demo script at: python-tutorial-1-depth.py . The depth’s raw output will be printout in the console. For example :

       WWWWWWX:     :WWWWWWWhn.                            XW   
      hWBn.  nXWBn. nXXWWWWWWWWWXhn.                       XW.  
      n.       hXXXBB. .hWWWWWWWWWWWWBh:                   BW   
                 ::nh.   nXWWWWWWWWWWWWWWBhn.              BB.  
       .             .:  BWWWWWWWWWWWWWWWWWWWWBh:               
                   .nn.nnXWXWWWWWWWWWWWWWWWWWWWWWWX:            
                 ..nn    XWXhWWWWWWWWWWWWWWWWWWWWWWWWBnnn.      
                 nhh.    XWWWWWWWWXWXWWWWWWWWWWWWWWWWWWWXB:     
               n:hhnh.   :hWWWWWWWXWWWWXXhWWWWWWWWWWWWWWWXBh:nnX
                 :Bn     hBhXXWWWWWWWWWWWBhXWWWXXBhBX:hBXWWn .n:
                         hn.BBWWWWWWWWWWWWWWWWWWWWXh:.    :nn.::
                    .    nWhhBWWWWWXXWWWWWWWWWWWWXnhnhXXn:     h
                    :.   hWBWBXWWWWWWWWWWWWWWWWWWWWWWWWWWWWXh:. 
                         :B   hhnBnhBXWWWWWWWWWWhWWWWXBBhBXBhh:B
                Xh       ..    nnn:nBWXBWWWWWWWWBWBWWWWX:n:  . :
                 .  h.         .  Bh . ..hWWWWWW.BWWWWXXnBXWn: :
                    Wn   .:   ::hn:::n:hWWWWWWWWBWWWWWWWhWWWBhhW
                    :.   n.    :hh:::hXXWWWWWWWWWWWWWWWWWWWWWWWW
                       ::XWX.  .nnnn  .XXBXXWWWXWWWWWWWWWWWWWWWW
                         nWWBh.     .n:h.nWWWWWWXWWWWWWWWWWWWWWW
                           .nn.          hhXWXWWXWWXXBWWWWWWWWWW
                               ...            :hnnnhWWWBBXWWWWWW
                          nn: nhXWWXWXXXXWWWWWWWWWWWXhBXWWXWXXXX
                                  .  .nBXWWWXWWWWWWWWWWh:BWWWXnW
      :WWWWWWWWWWWWWWWWWWWWWXn.                            XX   
      .WWWWWWWWWWWWWWWWWWWWWWWWWXn..                       WX.  
      nWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWXh:                   WW.  
      nWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWWXhn.              BB   
.....

There’re other examples at librealsense python example

• test librealsense2 + pcl

Run the following command

rs-pcl

There’re also several example at librealsen pcl.

Reference

1. compile pcl ubuntu 16.04
2. compile pcl from source
3. pcl turorials
4. librealsense python wrapper
5. librealsense pcl wrapper

End