参考：

Installation Instructions — Dex-Net 0.2.0 documentation

Install

git clone https://github.com/lianghongzhuo/PointNetGPD.git

 添加环境变量

gedit ~/.bashrc
#添加下面这一行
export PointNetGPD_FOLDER=$HOME/code/PointNetGPD
#然后source
source ~/.bashrc

dataset下载

cd $PointNetGPD_FOLDER/data
git clone https://github.com/lianghongzhuo/ycb-tools
cd ycb-tools
python download_ycb_dataset.py rgbd_512

 

依赖

可以参考：https://blog.csdn.net/singlesmile/article/details/124946192

pcl tools

 python pcl

conda环境安装python-pcl见如下

conda install vtk or pip install vtk
Use my fork: https://github.com/lianghongzhuo/python-pcl.git
git clone https://github.com/lianghongzhuo/python-pcl.git

conda 安装完vtk后

$ sudo apt-get update -y
$ sudo apt-get install libpcl-dev -y

 

 先参考上面的安装提示（vtk以及安装文件修改等），一定要按照上面的安装走

其他报错看：https://askubuntu.com/questions/916260/how-to-install-point-cloud-library-v1-8-pcl-1-8-0-on-ubuntu-16-04-2-lts-for

pip install --upgrade pip
pip install cython
pip install numpy
cd python-pcl
python setup.py build_ext -i
python setup.py install

python 环境部分

onda create -n pointnetgpd python=3.10 numpy ipython matplotlib opencv mayavi -c conda-forge

Mayavi安装和使用_mayavi 与vtk== 8.2.0_JesJiang的博客-CSDN博客

 ps: import 的dexnet在src里