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CompilePointCloudLibraryFromSource  
Instructions for compiling OpenNI + PCL from source on the pandaboard.
Updated Jan 12, 2013 by TeitelmanEvan@gmail.com

References

Background

libpcl is not in most distros' package repositories. It must be compiled from source.

OpenNI

Prerequisites

sudo apt-get update
sudo apt-get install gcc-multilib libusb-1.0.0-dev git-core build-essential
sudo apt-get install doxygen graphviz default-jdk freeglut3-dev libopencv-dev

download

mkdir ~/kinect
cd ~/kinect
git clone git://github.com/OpenNI/OpenNI.git
cd OpenNI
git checkout unstable

fixes

cd ~/kinect/OpenNI/Platform/Linux/Build/Common

Edit the Platform.Arm file to remove the -mfloat-abi=softfp option

build

cd ~/kinect/OpenNI/Platform/Linux/CreateRedist
./RedistMaker.Arm

install

cd ~/kinect/OpenNI/Platform/Linux/Redist/OpenNI-Bin-Dev-Linux-Arm-v1.5.4.0
sudo ./install.sh

SensorKinect

download

cd ~/kinect
git clone git://github.com/avin2/SensorKinect.git

fixes

cd ~/kinect/SensorKinect/Platform/Linux/Build/Common

Edit the Platform.Arm file to remove the -mfloat-abi=softfp option

build

cd ~/kinect/SensorKinect/Platform/Linux/CreateRedist
./RedistMaker

config

cd ~/kinect/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-Arm-v5.1.2.1

Edit Config/GlobalDefaultsKinect.ini and change ;UsbInterface=2 to UsbInterface=1

install

sudo ./install.sh

Testing OpenNI + SensorKinect

cd ~/kinect/OpenNI/Platform/Linux/Redist/OpenNI-Bin-Dev-Linux-Arm-v1.5.4.0
cd Samples/Bin/Arm-Release
./Sample-NiSimpleRead

Point Clouds Library

Prerequisites

sudo apt-get install subversion cmake-gui libeigen3-dev libflann-dev libboost-all-dev libvtk5-dev

(Optional)

sudo apt-get install libvtk5-qt4-dev libqhull-dev libpcap-dev python-sphinx

download

cd ~/kinect
svn co http://svn.pointclouds.org/pcl/trunk pcl-trunk

build

cd ~/kinect/pcl-trunk
mkdir build
cd build
cmake-gui ..
make

Include -DBUILD_visualization=true if desired

install

cd ~/kinect/pcl-trunk/build
sudo make install
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