0%

PCL-1.12.1 显示点云时出现 Segmentation Fault

发表于 更新于 分类于 ，

使用 pcl-tools 1.12.1 显示点云后出现 segmentation fault

image-1

使用 libpcl-dev-1.12.1 显示点云后显示一大串关于 vtk 的警告且最后出现 sgmentation fault

1
2
3
2024-03-27 07:06:36.626 (   1.903s) [        1B11AC80]vtkOpenGLPolyDataMapper:328   WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version.  Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
2024-03-27 07:06:36.626 (   1.903s) [        1B11AC80]vtkOpenGLPolyDataMapper:321   WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version.  Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
2024-03-27 07:06:36.626 (   1.903s) [        1B11AC80]vtkOpenGLPolyDataMapper:313   WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version.  Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.

similar issue: https://github.com/PointCloudLibrary/pcl/issues/5237

解决办法

卸载 pcl-1.12，使用 1.13 版本，但这个版本我 (Ubuntu 22.04.4) 无法通过 apt 安装，只能通过源代码编译安装。

卸载 pcl-1.12.1

1
2
3
4
5
6
# 确认版本
apt search pcl | grep pcl

# 其中包含:
libpcl-dev/jammy,now 1.12.1+dfsg-3build1 amd64 [installed]
pcl-tools/jammy,now 1.12.1+dfsg-3build1 amd64 [installed]
1
2
sudo apt remove libpcl-dev pcl-tools
sudo autoremove

在 github 上下载 pcl 源代码

1
2
3
4
5
6
git clone https://github.com/PointCloudLibrary/pcl.git

# checkout to 1.13.1
cd pcl
git tag
git checkout pcl-1.13.1

按照文档编译安装 pcl-1.13.1

https://pcl.readthedocs.io/projects/tutorials/en/latest/compiling_pcl_posix.html

1
2
3
4
5
6
7
8
9
10
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j2
sudo make -j2 install


# 确认安装完成
cd /usr/local/include/
ls
# 应该包含 pcl-1.13

安装 vtk

1
apt install vtk9 libvtk9-dev

测试是否可用

image-2