python-pcl-master安装包

## Table of Contents - [Dependencies](#dependencies) - [ROS](#ros) - [ros-utils](#ros-utils) - [Installation](#installation) - [ROS Package](#ros-package) - [ROS Compilation](#ros-compilation) - [Tutorials](#tutorials) - [CMAKE flags](#cmake-flags) - [Standalone](#standalone) - [Compilation](#compilation) - [Run](#run) # License # Dependencies ## ROS We have tested ???? in Ubuntu 16.04 with ROS Kinetic. To install ROS (Kinetic) use the following command: `sudo apt-get install ros-kinetic-desktop` We have tested ???? in Ubuntu 18.04 with ROS Melodic. To install ROS (Melodic) use the following command: `sudo apt-get install ros-Melodic-desktop` ## SuiteSparse Suitespare is a dependency, so it needs to be installed `sudo apt-get install libsuitesparse-dev` ## ros-utils Install our [ros-utils](https://github.com/lrse/ros-utils) library from the source code provided in `git clone [email protected]:lrse/ros-utils.git` # ROS Package ## ROS Compilation `catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON` To activate Loop Closing capabilities (requires DBoW2 and OpenGV dependencies). `catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DUSE_LOOPCLOSURE=ON -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON` For more information about compilation flags see [CMAKE flags](#cmakeFlags) section. 1-b. Source Code ```cmd git clone https://github.com/r9y9/pylibfreenect2.git python setup.py install ``` Reference : http://wiki.ros.org/rospy/Tutorials How to use a PCL tutorial in ROS http://wiki.ros.org/pcl/Overview http://wiki.ros.org/perception_pcl/Tutorials Japanese : http://ros-recognition-tutorial.readthedocs.io/ja/latest/pcl/ 2. execute example * before Kinect2 device connected python ros_utils.py