从零开始ROS编程-PCL点云库安装

系统环境：Ubuntu 18.04

QT版本  :   5.9.9

VTK       :   8.1.0

PCL       :   1.9.1

下载链接：https://github.com/PointCloudLibrary/pcl/archive/pcl-1.9.1.tar.gz

安装依赖：

sudo apt-get update\n
sudo apt-get install git build-essential linux-libc-dev\n
sudo apt-get install cmake cmake-gui \n
sudo apt-get install libusb-dev libudev-dev\n
sudo apt install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libpcap-dev\n
sudo apt-get install libflann1.9  libflann-dev\n
sudo apt-get install libeigen3-dev\n
sudo apt-get install libopenni2-dev\n
sudo apt-get install libqhull7 libqhull-dev \n
sudo apt-get install freeglut3-dev pkg-config\n
sudo apt-get install libxmu-dev libxi-dev \n
sudo apt-get install mono-complete\n
sudo proxychains4 apt-get install mono-complete\n

安装PCL：

cd pcl
mkdir build
cd build
cmake-gui ..

CMAKE OPTIONS:

 QT_USE_FILE /home/kezunlin/program/pcl-1.9.1/build/use-qt5.cmake

 VTK_DIR  /usr/local/lib/cmake/vtk-8.1

 CMAKE_BUILD_TYPE       Release
 CMAKE_CONFIGURATION_TYPES Release
 CMAKE_INSTALL_PREFIX  /usr/local

 PCL_SHARED_LIBS       ON
 PCL_QT_VERSION        5
 PCL_ENABLE_SSE        ON

 Build_visualization ON
 Build_apps ON
 Build_examples OFF # error may occur

 

MAKE:

# it may take several minutes, wait ...
make -j8
sudo make -j8 install