ubuntu16.04+cuda9.0编译PCL1.9.0教程

解决ubuntu16.04+cuda9.0编译PCL1.9.1出错的问题，出错问题是

pcl/gpu/utils/src/repacks.cu(84): error: identifier "copy_fields_t" is undefined

pcl/gpu/utils/src/repacks.cu(84): error: expected a ";"

pcl/gpu/utils/src/repacks.cu(96): error: namespace "pcl::device" has no member "copy_fields_t"

直接换成编译PCL1.9.0即可解决问题。

一.安装依赖库

1. sudo apt-get update

2. sudo apt-get install git build-essential linux-libc-dev

3. sudo apt-get install cmake cmake-gui

4. sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev

5. sudo apt-get install mpi-default-dev openmpi-bin openmpi-common

6. sudo apt-get install libflann1.8 libflann-dev

7. sudo apt-get install libeigen3-dev

8. sudo apt-get install libboost-all-dev

9. sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev

10. sudo apt-get install libqhull* libgtest-dev

11. sudo apt-get install freeglut3-dev pkg-config

12. sudo apt-get install libxmu-dev libxi-dev

13. sudo apt-get install mono-complete

14. sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

二.下载PCL1.9.0

去github上搜索PCL下载pcl1.9.0的源码

三.编译

解压pcl1.9.0的源码在home目录下   

cd pcl-pcl-1.9.0

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

sudo make install

四.安装openni

1. sudo apt-get install libopenni-dev

2. sudo apt-get install libopenni2-dev