Ubuntu18.04编译安装PCL点云库（稳定可靠）

此方式为源码安装,最安全稳定

1.准备编译环境及工具

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 libpcap-dev
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 vtk6 libvtk6.3 libvtk6-dev libvtk6.3-qt libvtk6-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 libopenni-dev libopenni2-dev

2.下载源码

git clone https://gitee.com/mirrors/pcl.git

3.编译 需要的时间久一些

cd pcl
# 切换到指定版本v1.9.1再编译
git checkout pcl-1.9.1
# 创建目录
mkdir release
# 进入目录
cd release

# 配置cmake
cmake -DCMAKE_BUILD_TYPE=None \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DBUILD_GPU=ON \
      -DBUILD_apps=ON \
      -DBUILD_examples=ON ..

# 进行编译  11为内核数 按自己的cpu内核填写 不写数字默认使用全部核心编译
make -j11

4.安装

sudo make install

5.测试是否成功，打开窗口看到logo点云即为成功安装

pcl_viewer ../test/pcl_logo.pcd

 

 

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