PCL1.9.1+VTK6.3+QT5.5 点云开发配置流程

1，清理QT防止冲突

sudo apt-get autoremove --purge libqt* 

2，安装依赖

touch install_pcl_dependences.sh

写入

sudo apt-get update
sudo apt-get install libboost-all-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libxt-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install mono-complete
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install libopenni-dev   
sudo apt-get install libopenni2-dev

执行sudo sh install_pcl_dependences.sh

3，安装QT5.5 https://download.qt.io/archive/qt/5.5/5.5.1/

安装细节为https://www.jianshu.com/p/7dad1a4483bd

4，安装VTK6.3     https://vtk.org/download/

mkdir build &&cd build

cmake-gui

（1）选VTK_Group_Qt选项
（2）将CMAKE_BUILD_TYPE改为Release
（3）VTK_QT_VERSION改为5
（4）按下Configure按钮，

手动填上Qt5_DIR的地址，地址要精确到Qt5Config.cmake所在文件夹。

我的是    /home/amax/Qt5.5.1/5.5/gcc_64/lib/cmake/Qt5

（5）按下Gennrate按钮
（6）配置完成后，进行编译安装

配置好后，make -j16 编译，VTK编译速度还可以，等一会就可以了
编译好后，sudo make install将库安装。
此时vtk的头文件应该都在/usr/local/include/vtk-6.3
库文件都在/usr/local/lib中。

编译VTK的库最主要的原因还是需要libQVTKWidgetPlugin.so库文件，路径为/home/username/VTK-6.3.0/build/lib。讲这个文件复制到(qt安装路径)/Tools/QtCreator/bin/plugins/designer(需要用sudo cp 命令来复制)
此时打开QT的UI界面，便会出现QVTK的控件

5，PCL安装

mkdir build &&cd build

cmake-gui

vtkDataArrayPrivate.txx: No such file or directory

cd  VTK/VTK-6.3.0/Common/Core

sudo cp vtkDataArrayPrivate.txx /usr/local/include/

 

make -j16 

sudo make install

 

完成