ubuntu 20.04 +PCL1.8.1安装，boost1.63安装

ubuntu 20.04 +PCL1.8.1安装

安装PCL需要py的版本支持，刚装系统自带的python3不兼容，要重新安装python2，

检查python版本

python --version

如果是python3xxx，大概安装pcl会报错

boost/python/detail/wrap_python.hpp:50:11: fatal error: pyconfig.h:

没有那个文件或目录 50 | # include <pyconfig.h>

sudo apt-get install python-dev 

安装python2.x的版本,我装的2.7

如果原来存在PCL库的，卸载可以用

sudo apt-get remove libboost-all-dev

下载Boost库的源代码：前往Boost官方网站（https://www.boost.org/users/download/）下载1.63版本的源代码压缩包（例如boost_1_63_0.tar.gz）。tar -xzf boost_1_63_0.tar.gz
cd boost_1_63_0
sudo ./bootstrap.sh --prefix=/usr/local
sudo ./b2 install
配置Boost库环境变量：为了确保系统能够找到新安装的Boost库，你需要将Boost库的路径添加到环境变量中。编辑你的shell配置文件（例如~/.bashrc或~/.bash_profile），并添加以下行：

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
export CPLUS_INCLUDE_PATH=/usr/local/include:$CPLUS_INCLUDE_PATH
更新配置环境

source ~/.bashrc

检查安装成功后的boost版本：

cat /usr/local/include/boost/version.hpp | grep "BOOST_LIB_VERSION"

安装PCL报错并记录

[ 34%] Building CXX object filters/CMakeFiles/pcl_filters.dir/src/conditional_removal.cpp.o cc1plus: warning: ‘-Wabi’ won’t warn about anything [-Wabi] cc1plus: note: ‘-Wabi’ warns about differences from the most up-to-date ABI, which is also used by default cc1plus: note: use e.g. ‘-Wabi=11’ to warn about changes from GCC 7 /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_resetStreamHC' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_setStreamDecode' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_decompress_safe' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_decompress_safe_continue' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_compress_HC_continue' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_resetStreamHC' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_setStreamDecode' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_decompress_safe' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_decompress_safe_continue' /usr/bin/ld: ../lib/libpcl_kdtree.so.1.8.1: undefined reference to `LZ4_compress_HC_continue' collect2: error: ld returned 1 exit status collect2: error: ld returned 1 exit status make[2]: *** [tools/CMakeFiles/pcl_marching_cubes_reconstruction.dir/build.make:281：bin/pcl_marching_cubes_reconstruction] 错误 1 make[2]: *** [tools/CMakeFiles/pcl_gp3_surface.dir/build.make:281：bin/pcl_gp3_surface] 错误 1 make[1]: *** [CMakeFiles/Makefile2:3148：tools/CMakeFiles/pcl_marching_cubes_reconstruction.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... make[1]: *** [CMakeFiles/Makefile2:3078：tools/CMakeFiles/pcl_gp3_surface.dir/all] 错误 2

检查LZ4库是否安装上

sudo apt-get install liblz4-dev

如果装上还是不行，

在该路径文件末尾加 -llz4。

报错：

pcl/segmentation/plane_coefficient_comparator.h:144:17: error: invalid initialization of reference of type ‘const std::vector<float>&’ from expression of type ‘const boost::shared_ptr<std::vector<float> >’   144 |         return (plane_coeff_d_);

找到该文件，

在plane_coefficient_comparator.h文件中第144行。

将return(plane_coeff_d_) 更改为   return( *plane_coeff_d_)

最后编译通过。