ubuntu 下pcl1.8的安装与测试

已经安装过pcl多次，记录下。

！！！！一定注意，安装时候，要把anconda的环境变量去掉 ！！！！

重要的事情说三遍！！

！！！！一定注意，安装时候，要把anconda的环境变量去掉 ！！！！

！！！！一定注意，安装时候，要把anconda的环境变量去掉 ！！！！

！！！！一定注意，安装时候，要把anconda的环境变量去掉 ！！！！

电脑的环境变量存在anaconda的路径，然后自己安装后测试就会报错。所以一定先要吧环境变量中的conda的环境去除。保险起见，再把安装路径的anaconda路径暂时重命名为其他名字。

然后我们就可以正式安装pcl了。

修改环境变量：

• sudo gedit ~/.bashrc
• conda环境变量进行注释，然后保存并关闭

        

• source ~/.bashrc 

1. 安装依赖库

ubuntu16

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 libvtk6.3-qt libvtk6.3 libvtk6-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

ubuntu18 &&ubuntu20

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 libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk6.3-qt libvtk6.3 libvtk6-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

有些库安装不上，报错无法定位之类的。要么是源的问题，要么是库的问题，对应搜索下解决方案即可。

2. 下载pcl1.8

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

直接通过上面命令，下载的是最新版本的pcl。想要下载历史版本的到github链接下，如下图操作即可。

3. 编译安装

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 .. 
make -j8 # 
sudo make install

耐心等待，等待安装结束。

4. 安装可视化库依赖

安装OpenNI,OpenNI2

sudo apt-get install libopenni-dev 
sudo apt-get install libopenni2-dev

安装ensensor

下载安装包并安装。下载链接如下
Ensenso SDK Download
Download runtime software for Wibu-Systems products - CodeMeter, WibuKey: Wibu-Systems

sudo dpkg -i ensenso-sdk-2.2.147-x64.deb 
sudo dpkg -i codemeter_6.80.3312.500_amd64.deb

sudo apt-get -f install

 5. 测试

写个测试工程：main.cc

#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
 
 
int main(int argc, char **argv) {
    std::cout << "Test PCL !!!" << std::endl;
    
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
      for (float angle(0.0); angle <= 360.0; angle += 5.0)
      {
	pcl::PointXYZRGB point;
	point.x = 0.5 * cosf (pcl::deg2rad(angle));
	point.y = sinf (pcl::deg2rad(angle));
	point.z = z;
	uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
		static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
	point.rgb = *reinterpret_cast<float*>(&rgb);
	point_cloud_ptr->points.push_back (point);
      }
      if (z < 0.0)
      {
	r -= 12;
	g += 12;
      }
      else
      {
	g -= 12;
	b += 12;
      }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;
    
    pcl::visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}

 CMakeLists.txt

cmake_minimum_required(VERSION 2.6)
project(pcl_test)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcl_test 
                src/main.cc)

target_link_libraries (pcl_test ${PCL_LIBRARIES})

install(TARGETS pcl_test RUNTIME DESTINATION bin)

效果：