Ubuntu20.04安装PCL1.8.0编译错误（全网最全~）

最近在跑ORB_SLAM2_SSD_Semantic-master，出现了很多错误，后来发现是pcl的版本不对，我刚开始安装的是pcl-1.12，发现pcl::EuclideanClusterComparator模块进行了调整，之前的pcl中EuclideanClusterComparator有三个参数，而pcl-1.12版本中只有两个参数（行吧。。。行吧。。。）所以选择安装pcl-1.8……话不多说，我们开始。。。

首先进行下载：https://github.com/PointCloudLibrary/pcl/releases

这里我们选择1.8.0版本

进入根目录进行编译：

mkdir build

cd build

cmake ..

make -j12

error1：boost::math::isnan

解决：在vlp_grabber.h文件中加入#include<boost/math/special_functions/fpclassify.hpp>

error 2：#include <boost/uuid/sha1.hpp>

 原因：sha1.hpp的路径不对（查找自己电脑上sha1.hpp的路径）

解决：在pcl_visualizer.cpp中将#include <boost/uuid/sha1.hpp>改为#include <boost/uuid/detail/sha1.hpp>

error 3：error: invalid initialization of reference of type ‘const std::vector<float>&’ from expression of type ‘const boost::shared_ptr<std::vector<float> >’
  144 |         return (plane_coeff_d_);

 解决：在plane_coefficient_comparator.h中的return (plane_coeff_d_)修改为

return (* plane_coeff_d_)

error 4：/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_resetStreamHC'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_setStreamDecode'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_decompress_safe'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_decompress_safe_continue'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_compress_HC_continue'

解决：/pcl/build/kdtree/CMakeFiles/pcl_kdtree.dir/下的link.txt里在末尾写上：-llz4

error 5：error: no matching function for call to ‘boost::uuids::random_generator_pure::random_generator_pure(boost::random::mt19937*)’ 77 |     boost::uuids::random_generator OutofcoreOctreeDiskContainer<PointT>::uuid_gen_ (&rand_gen_);

 解决：注释octree_disk_container.hpp中的76、77行：

error 6：/home/young/pcl-1.8.0/features/include/pcl/features/integral_image_normal.h:254: undefined reference to `pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal>::initData()'

 解决：在octree_disk_container.hpp加入#include <pcl/features/normal_3d.h>

error 7：/bin/ld: ../lib/libpcl_recognition.so.1.8.0: undefined reference to `pcl::BOARDLocalReferenceFrameEstimation<pcl::PointXYZRGBA, pcl::Normal, pcl::ReferenceFrame>::computeFeature(pcl::PointCloud<pcl::ReferenceFrame>&)'

 解决：在pcl-1.8.0/features/include/pcl/features/board.h加#include <pcl/features/board.h>

终于！！！！！！成功了！！！！！！（我直接落泪~~~~）

 完结~~撒花~~~！！！

呼呼~~~

最后，别忘了sudo make install哦~

有问题欢迎留言！