Ubuntu环境配置

OpenCV

安装依赖

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

如果提示unable to locate libjasper-dev，可以执行以下代码：

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev  #libjasper1是libjasper-dev的依赖包

下载OpenCV和OpenCV-contrib模块

1. 官网地址
   OpenCV下载地址
2. git clone下载

cd <working_directory>
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git

编译

1. 把opencv-contrib模块移入opencv目录下（没有contrib模块就不移入）
2. 在opencv目录下新建一个build目录

cd <opencv_directory>
mkdir build  //建立一个build目录，把cmake的文件都放着里边
cd build　　　//进入build目录

3. 开始cmake，这一步需要一会儿才能cmake完。
   1. 有contrib模块

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ..

2. 无contrib模块

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..

编译过程中ippicv遇到下载问题，可以参考下面链接：https://blog.csdn.net/orDream/article/details/84311697

4. build一下，把代码编译成可执行文件

make -j7 # 运行7个并行作业

5. 安装库文件

sudo make install

PCL 1.9.1

依赖库

sudo apt-get update  
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 libvtk7.1-qt libvtk7-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
sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev

下载源码

pcl-1.9.1

配置并编译

cd pcl
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make -j7
sudo make install

ROS

melodic/Installation/Ubuntu - ROS Wiki

问题1：
rosdep command not found
解决方法：
sudo apt install python-rosdep

问题2：
Unable to Correct Problems ‘You have Held Broken Packages
解决方法：

sudo apt install aptitude
sudo aptitude install ros-melodic-desktop-full

安装ROS出现 Unable to Correct Problems ‘You have Held Broken Packages’ 错误_佚明zj的博客-CSDN博客