[ROS]3 Linux编程练习

 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 GNU
10 -- The CXX compiler identification is GNU
11 -- Check for working C compiler: /usr/bin/gcc
12 -- Check for working C compiler: /usr/bin/gcc -- works
13 -- Detecting C compiler ABI info
14 -- Detecting C compiler ABI info - done
15 -- Check for working CXX compiler: /usr/bin/c++
16 -- Check for working CXX compiler: /usr/bin/c++ -- works
17 -- Detecting CXX compiler ABI info
18 -- Detecting CXX compiler ABI info - done
19 -- checking for module ‘eigen3‘
20 --   found eigen3, version 3.2.7
21 -- Found eigen: /usr/include/eigen3 
22 -- Boost version: 1.46.1
23 -- Found the following Boost libraries:
24 --   system
25 --   filesystem
26 --   thread
27 --   date_time
28 --   iostreams
29 --   serialization
30 -- checking for module ‘openni-dev‘
31 --   package ‘openni-dev‘ not found
32 -- Found openni: /usr/lib/libOpenNI.so 
33 -- Found libusb-1.0: /usr/include 
34 -- looking for PCL_COMMON
35 -- Found PCL_COMMON: /usr/lib/libpcl_common.so 
36 -- looking for PCL_OCTREE
37 -- Found PCL_OCTREE: /usr/lib/libpcl_octree.so 
38 -- looking for PCL_IO
39 -- 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 done
42 WARNING: Target "generate_pointcloud" requests linking to directory "/usr/lib".  Targets may link only to libraries.  CMake is dropping the item.
43 -- Generating done
44 -- Build files have been written to: /home/exbot/CodeLearn/Depth2PointCloud/build
45 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ make
46 Scanning dependencies of target generate_pointcloud
47 [100%] Building CXX object src/CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o
48 Linking CXX executable ../../bin/generate_pointcloud
49 [100%] Built target generate_pointcloud
50 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ ‘/home/exbot/CodeLearn/Depth2PointCloud/bin/generate_pointcloud‘ 
51 point cloud size = 0
52 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 directory
57 exbot@ubuntu:~/CodeLearn/Depth2PointCloud/build$ cd ../
58 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ bin/generate_pointcloud
59 point cloud size = 204186
60 Point cloud saved.
61 exbot@ubuntu:~/CodeLearn/Depth2PointCloud$ pcl_viewer data/pointcloud.pcd
62 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