ubuntu16.04LTS 安装PCL1.8
PCL1.9 貌似没有visualization ,不知道为什么不能 include头文件,因此重新下载PCL1.8 ,编译,安装
一、下载源代码
https://github.com/PointCloudLibrary/pcl/releases
找到PCL1.8
二、安装必要的依赖
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 mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev
sudo apt-get install libqhull-dev
三、camke
cd pcl
mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \
-DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \
-DCMAKE_INSTALL_PREFIX=/usr ..
四、make
make
sudo make install
五、建立链接
首先用whereis libpcl_common.so 来查找这个.so文件的路径,然后执行下面的命令(使用对应的路径)建立链接
sudo ln -s /usr/local/lib/libpcl_common.so /usr/lib/x86_64-linux-gnu/libpcl_common.so
sudo ln -s /usr/local/lib/libpcl_octree.so /usr/lib/x86_64-linux-gnu/libpcl_octree.so
sudo ln -s /usr/local/lib/libpcl_io.so /usr/lib/x86_64-linux-gnu/libpcl_io.so
六、其他
如果不是自己编译PCL,而是apt install,则你需要安装vtk
sudo apt-get install libproj-dev
然后 :
在cmakelist中加一条指令修复,即在add_executable语句前面加上list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
具体参见:https://blog.csdn.net/danmeng8068/article/details/77341532