Ubuntu18.04 PCL1.8安装 vscode配置

1.安装依赖

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 libvtk7.1-qt libvtk7.1 libvtk7-qt-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 openjdk-8-jdk openjdk-8-jre

2.下载pcl

git clone https://github.com/PointCloudLibrary/pcl.git

3.编译pcl

cd pcl
mkdir build
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr ..
make
sudo make install

4.验证是否安装成功

打开终端，用一个pcd测试，若可以显示点云则安装成功

pcl_viewer xxx.pcd

5.vscode配置

Run and Debug 生成launch.json文件

{
    // 使用 IntelliSense 了解相关属性。 
    // 悬停以查看现有属性的描述。
    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) Launch",             
            "type": "cppdbg",                    
            "request": "launch",                 
            "program": "${workspaceFolder}/${fileBasenameNoExtension}.out", 　　　　　　  
            "miDebuggerPath": "/usr/bin/gdb",    
            "preLaunchTask":"build",        
            "args": [],                    
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",       
            "environment": [],                  
            "externalConsole": true,
            "MIMode": "gdb",                   
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}

Configure Tasks 配置Tasks.json

{
    // See https://go.microsoft.com/fwlink/?LinkId=733558
    // for the documentation about the tasks.json format
    "version": "2.0.0",   
    "tasks":[  
        {
            "label": "build",       
            "type": "shell",        
            "command": "g++",       
            "args":[
                "-g",           
                "${workspaceFolder}/${fileBasename}",   
                "-I", "/usr/local/include/pcl-1.8",
                "-I", "/usr/include/eigen3",
                "-I", "/usr/include/vtk-5.10",
                "-I", "/usr/include/qhull",
                "-I", "/usr/include/flann",
                "-I", "/usr/include/boost",
                // lib 库文件地址
                "-L", "/usr/local/lib",     
                "-l", "pcl_io",                           
                "-l", "pcl_visualization",
                "-l", "pcl_common",
                "-l", "vtkFiltering",
                "-l", "vtkCommon",
                "-l", "vtkRendering",
                "-l", "vtkGraphics",
                "-L", "/usr/include/x86_64-linux-gnu",  
                "-l", "boost_system",                
                "-o",                                    
                "${workspaceFolder}/${fileBasenameNoExtension}.out"  
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            }
        },
        {
            "label": "cmakebuild",      
            "type": "shell", 
            "command": "cd build && cmake ../ && make",  
            "args": []
        }
    ] 
}