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Ubuntu Pcl安装

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下载PCL

$ git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk
$ ln -s pcl-trunk pcl 

安装库
借鉴网上一篇博客,这部分属于照搬,但为防止以后网址丢失还是抄下来

$ sudo apt-get install cmake
$ sudo apt-get install g++
$ sudo apt-get install libboost1.55-all-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libflann-dev
$ sudo apt-get install python
$ sudo apt-get install libusb-1.0-0-dev
$ sudo apt-get install libudev-dev
$ sudo apt-get install openjdk-6-jdk
$ sudo apt-get install freeglut3-dev
$ sudo apt-get install doxygen
$ sudo apt-get install graphviz
$ sudo apt-get install libpng12-dev
$ sudo apt-get install libgtest-dev
$ sudo apt-get install libxmu-dev
$ sudo apt-get install libxi-dev
$ sudo apt-get install libpcap-dev
$ sudo apt-get install libqhull-dev
$ sudo apt-get install libvtk5-qt4-dev
$ sudo apt-get install python-vtk
$ sudo apt-get install libvtk-java

编译库

$ cd pcl-trunk
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON .. 
$ make
$ sudo make install

测试

目录pcl-trunk->doc->tutorials->content->sources下有PCL例程
程序运行方式有两种

1、Cmake

( 1)

$ cd catkin_ws/src/
$ catkin_create_pkg demo std_msgs rospy roscpp(生产CmakeList.txt/package.xml)

将PCL目录下例程.CPP文件拷贝到demo文件下,同时用PCL目标下的CmakeList.txt(包含连接的动态库)代替demo文件,CmakeList.txt文件可以尝试自己编辑

(2)

$ cd demo
$ sudo cmake .
$ make
$ ./文件名(例:./hello)

2、QT Creator


同(1)步骤,(2)借鉴QT编译

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