我正在尝试使用立体摄像机（校准和校正），视差图和点云库创建点云。下面是对我的C ++代码的简要说明，该代码应该使用视差图生成点云。
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</div>我运行以下终端命令来编译此.cpp文件...
#include <iostream>
#include <fstream>
#include <string>
#include <opencv2/opencv.hpp>
#include <opencv2/ximgproc.hpp>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/vtk.h>
using namespace std;
using namespace cv;
using namespace cv::ximgproc;
using namespace pcl;
using namespace pcl::visualization;
boost::shared_ptr<PCLVisualizer> rgbVis (PointCloud<PointXYZRGB>::ConstPtr cloud)
{
boost::shared_ptr<PCLVisualizer> viewer (new PCLVisualizer ("3D Viewer"));
viewer->setBackgroundColor (0, 0, 0);
PointCloudColorHandlerRGBField<PointXYZRGB> rgb(cloud);
viewer->addPointCloud<PointXYZRGB> (cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties (PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
return (viewer);
}
/* Some other functions */
int main()
{
.....
.....
int l, r;
cout << "Enter CAM index for Left Camera ";
cin >> l;
cout << endl << "Enter CAM index for Right Camera ";
cin >> r;
VideoCapture leftCam(l);
VideoCapture rightCam(r);
........
........
boost::shared_ptr<PCLVisualizer> viewer;
bool proceed = true;
while(proceed)
{
........
........
PointCloud<PointXYZRGB>::Ptr pointCloud(new PointCloud<PointXYZRGB>());
Mat xyz;
reprojectImageTo3D(disparityMap, xyz, q);
pointCloud->width = static_cast<uint32_t>(disparityMap.cols);
pointCloud->height = static_cast<uint32_t>(disparityMap.rows);
pointCloud->is_dense = false;
PointXYZRGB tempPoint;
for(int i = 0; i < disparityMap.rows; i++)
{
uchar* rgb_ptr = rightUndistorted.ptr<uchar>(i);
uchar* disp_ptr = disparityMap.ptr<uchar>(i);
double* xyz_ptr = xyz.ptr<double>(i);
for(int j = 0; j < disparityMap.cols; j++)
{
uchar d = disp_ptr[j];
if(d == 0)
continue;
Point3f p = xyz.at<Point3f>(i, j);
tempPoint.x = p.x;
tempPoint.y = p.y;
tempPoint.z = p.z;
tempPoint.b = rgb_ptr[3 * j];
tempPoint.g = rgb_ptr[3 * j + 1];
tempPoint.r = rgb_ptr[3 * j + 2];
pointCloud->points.push_back(tempPoint);
}
}
viewer = rgbVis(pointCloud);
if(waitKey(50) == 'q')
proceed = false;
}
destroyAllWindows();
return 0;
}
这会产生以下错误消息...
g++ -std=c++14 d2pc.cpp -o d2pc `pkg-config --cflags --libs opencv pcl_io-1.11 pcl_visualization-1.11` -lboost_system
我认为从here安装Vtk可能有助于解决此问题，但没有帮助。
如何解决此问题？我在Ubuntu 18.04中使用OpenCV 3.4.10
答案 0 :(得分：0)
首先构建并安装vtk：
构建
tar xf VTK-9.0.1.tar.gz cd VTK-9.0.1 mkdir build && cd build cmake .. make -j 安装
（如果您的安装首选位置与~/.local不同，只需在下面更改insdir）
insdir=$(echo ~/.local) mkdir $insdir cmake --install . --prefix $insdir 然后将包含路径（-I $insdir/include/vtk-9.0），库路径（-L $insdir/lib64或可能在32位计算机上为$insdir/lib）和vtk库（-llibname1 ... -llibnameX）添加到您的编译命令。
示例：
allvtklibs=$(ls $insdir/lib64/libvtk*.so | sed -E 's,^.*/lib(.*)\.so$,-l\1,') g++ -std=c++14 d2pc.cpp -o d2pc -I $insdir/include/vtk-9.0 -L $insdir/lib64 $(pkg-config --cflags --libs opencv pcl_io-1.11 pcl_visualization-1.11) -Wl,-rpath=$insdir/lib64 $allvtklibs -lboost_system