SLAM学习中遇到的困难：Ubuntu16.04安装PCL库

最近学习SLAM，在编译点云拼接代码时出现错误：

/usr/bin/ld:cannot find -lvtkproj4

查找资料，原因好像是SLAM十四讲中的方法适用于Ubuntu14。

下面介绍Ubuntu16.04安装PCL库的方法

方法一：直接执行

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all
sudo apt-get install pcl-tools

有可能会出错：

make[2]:***No rule to make target'/usr/lib/x86_64-linux-gnu/libproj.so',needed by 'joinMap'.

解决方法，执行：

sudo apt-get install libproj-dev

 

方法二：（推荐）

自己编译源码

（1）预安装依赖库

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 libvtk5.10-qt4 libvtk5.10 libvtk5-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  

（2）下载源码并编译

下载源码:

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

新建文件夹pcl，并进入新文件夹，输入以下代码，完成编译

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 -j4 (线程数根据情况选择)
sudo make  install

（3）PCL可视化相关依赖包安装

安装OpenNI，OpenNI2，输入

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

安装完成！

测试：文件1：pcl_test.cpp

//pcl_test.cpp
#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;
}

文件2：CMakeLists.txt

//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 pcl_test.cpp)
 
target_link_libraries (pcl_test ${PCL_LIBRARIES})
 
install(TARGETS pcl_test RUNTIME DESTINATION bin)

把这两个文件放文件夹下，终端输入

cmake .
make
./pcl_test

结果显示出点云图案，则证明安装wan'完成。