unbuntu下运行单个c++文件

有时候需要直接运行小型的单个程序，一般指仅包含一个main函数的程序，这时候在ubantu系统下直接运行大概有以下几种情况：
1.对于没有使用依赖包的程序，如仅是进行运算，输出等，没有使用外部依赖包如pcl,eigen等，客直接在程序所在位置打开终端，运行：

g++ test1.cpp -o test1
test1为cpp文件名

另外还可以利用vscode插件，code runner,直接点击右上角三角即可运行

2,对于有需要依赖包的程序，就需要编写相应的cmake文件。例如：有下方一个点云配准的程序
程序来自博客

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/visualization/pcl_visualizer.h>//可视化头文件
#include <pcl/filters/filter.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/registration/gicp.h>
#include <pcl/common/time.h>
#include <pcl/filters/voxel_grid.h>
 
typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
 
int main(int argc, char** argv)
{
	// 创建点云指针
	PointCloudT::Ptr cloud_in(new PointCloudT);  // 需要转换的点云
	PointCloudT::Ptr cloud_tr(new PointCloudT);  // 转换后的点云
	PointCloudT::Ptr cloud_icped(new PointCloudT);  // ICP后输出点云
	PointCloudT::Ptr cloud_icped1(new PointCloudT);  // ICP后输出点云
	PointCloudT::Ptr cloud_aim(new PointCloudT); // 向其转换的目标点云
	PointCloudT::Ptr cloud_in_src(new PointCloudT);
	PointCloudT::Ptr cloud_aim_src(new PointCloudT);
	PointCloudT::Ptr cloud_in_rad(new PointCloudT);
	PointCloudT::Ptr cloud_aim_rad(new PointCloudT);
	pcl::StopWatch timeer;
 
	//读取pcd文件
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("test_pcd_seg_0.pcd", *cloud_aim_src) == -1)
	{
		PCL_ERROR("Couldn't read file1 \n");
		return (-1);
	}
	std::cout << "Loaded " << cloud_aim_src->size() << " data points from file1" << std::endl;
	
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("test_pcd_seg_1.pcd", *cloud_in_src) == -1)
	{
	PCL_ERROR("Couldn't read file2 \n");
	return (-1);
	}
	std::cout << "Loaded " << cloud_in_src->size() << " data points from file2" << std::endl;
	
	std::vector<int> mapping_in;
	std::vector<int> mapping_out;
	pcl::removeNaNFromPointCloud(*cloud_in_src, *cloud_in_src, mapping_in);
	pcl::removeNaNFromPointCloud(*cloud_aim_src, *cloud_aim_src, mapping_out);
	
	// Perform the actual filtering
	pcl::RadiusOutlierRemoval<PointT> outrem;
	// build the filter
	outrem.setInputCloud(cloud_in_src);
	outrem.setRadiusSearch(0.04);
	outrem.setMinNeighborsInRadius(80);
	// apply filter
	outrem.filter(*cloud_in_rad);
 
	// build the filter
	outrem.setInputCloud(cloud_aim_src);
	outrem.setRadiusSearch(0.04);
	outrem.setMinNeighborsInRadius(80);
	// apply filter
	outrem.filter(*cloud_aim_rad);
 
	// downsample clouds
	pcl::VoxelGrid<PointT> vg;
	vg.setInputCloud(cloud_in_rad);
	vg.setLeafSize(0.01f, 0.01f, 0.01f);
	vg.filter(*cloud_in);
 
	vg.setInputCloud(cloud_aim_rad);
	vg.setLeafSize(0.01f, 0.01f, 0.01f);
	vg.filter(*cloud_aim);
		
	timeer.reset();
	//icp配准
	//pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp; //创建ICP对象，用于ICP配准
	//pcl::GeneralizedIterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
	//icp.setMaximumIterations(500);    //设置最大迭代次数iterations=true
	//icp.setMaxCorrespondenceDistance(0.5);
	//icp.setTransformationEpsilon(1e-6);
	//icp.setEuclideanFitnessEpsilon(1);
	//icp.setInputCloud(cloud_in); //设置输入点云
	//icp.setInputTarget(cloud_aim); //设置目标点云（输入点云进行仿射变换，得到目标点云）
	//icp.align(*cloud_icped1);          //匹配后源点云
 
	pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp2; //创建ICP对象，用于ICP配准
	//icp2.setEuclideanFitnessEpsilon(1);
	icp2.setMaximumIterations(200);
	icp2.setInputCloud(cloud_in); //设置输入点云
	icp2.setInputTarget(cloud_aim); //设置目标点云（输入点云进行仿射变换，得到目标点云）
	icp2.align(*cloud_icped);          //匹配后源点云
	
	//icp.setMaximumIterations(1);  // 设置为1以便下次调用
	//std::cout << "Applied " << iterations << " ICP iteration(s)" << std::endl;
	if (icp2.hasConverged())//icp.hasConverged ()=1（true）输出变换矩阵的适合性评估
	{
		std::cout << "\nICP has converged, score is: " << icp2.getFitnessScore() << std::endl;
		std::cout << "\nICP has converged, Epsilon is: " << icp2.getEuclideanFitnessEpsilon() << std::endl;
		//std::cout << "\nICP transformation " << iterations << " : cloud_in -> cloud_aim" << std::endl;
		std::cout << "\nICP transformation is \n " << icp2.getFinalTransformation() << std::endl;
		//transformation_matrix = icp.getFinalTransformation().cast<double>();
		//print4x4Matrix(transformation_matrix);
	}
	else
	{
		PCL_ERROR("\nICP has not converged.\n");
		return (-1);
	}
 
	std::cout << "ICP run time: " << timeer.getTimeSeconds() << " s" << std::endl;
	//可视化
	pcl::visualization::PCLVisualizer viewer("ICP demo");
	// 创建两个观察视点
	int v1(0);
	int v2(1);
	viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);
	viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);
	// 定义显示的颜色信息
	float bckgr_gray_level = 0.0;  // Black
	float txt_gray_lvl = 1.0 - bckgr_gray_level;
	// 原始的点云设置为白色的
	pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_aim_color_h(cloud_aim, (int)255 * txt_gray_lvl, (int)255 * txt_gray_lvl,
		(int)255 * txt_gray_lvl);
 
	viewer.addPointCloud(cloud_aim, cloud_aim_color_h, "cloud_aim_v1", v1);//设置原始的点云都是显示为白色
	viewer.addPointCloud(cloud_aim, cloud_aim_color_h, "cloud_aim_v2", v2);
 
	// 需要被转换的点云显示为绿色
	pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_in_color_h(cloud_in, 20, 180, 20);
	viewer.addPointCloud(cloud_in, cloud_in_color_h, "cloud_in_v1", v1);
 
	// ICP配准后的点云为红色
	pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_icped_color_h(cloud_icped, 180, 20, 20);
	viewer.addPointCloud(cloud_icped, cloud_icped_color_h, "cloud_icped_v2", v2);
 
	// 加入文本的描述在各自的视口界面
	//在指定视口viewport=v1添加字符串“white 。。。”其中"icp_info_1"是添加字符串的ID标志，（10，15）为坐标16为字符大小 后面分别是RGB值
	viewer.addText("White: Original point cloud\nGreen: Matrix transformed point cloud", 10, 15, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "icp_info_1", v1);
	viewer.addText("White: Original point cloud\nRed: ICP aligned point cloud", 10, 15, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "icp_info_2", v2);
 
 
	// 设置背景颜色
	viewer.setBackgroundColor(bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v1);
	viewer.setBackgroundColor(bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v2);
 
	// 设置相机的坐标和方向
	viewer.setCameraPosition(-3.68332, 2.94092, 5.71266, 0.289847, 0.921947, -0.256907, 0);
	viewer.setSize(1280, 1024);  // 可视化窗口的大小
 
	//显示
	while (!viewer.wasStopped())
	{
		viewer.spinOnce();
	}
	return 0;
}

这时候要运行就需要使用到PCL库，所以需要编写CmakeLists.txt文件，不知道怎么写的可以找其他人用到PCL的代码的CmakeLists.txt文件,复制过来自己改写，大体上都差不多。
对应上述程序的CmakeLists.txt文件如下：

cmake_minimum_required ( VERSION 2.6 FATAL_ERROR)   #对于cmake版本的最低版本的要求
project(transfer_pcdfile)                                        #建立的工程名，例如源代码目录路径的变量名为CH_DIR                 
find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS}   )
link_directories(${PCL_LIBRARIES_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(test1 test1.cpp)
target_link_libraries(test1 ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_FILTERS_LIBRARIES} ${PCL_VISUALIZATION_LIBRARIES} ${PCL_REGISTRATION_LIBRARIES} )

注意：若在make时候报如下错误

test1.cpp:(.text._ZN3pcl13visualization13PCLVisualizer13addPointCloudINS_8PointXYZEEEbRKNS_10PointCloudIT_E8ConstPtrERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEi[_ZN3pcl13visualization13PCLVisualizer13addPointCloudINS_8PointXYZEEEbRKNS_10PointCloudIT_E8ConstPtrERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEi]+0xd2)：对‘pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PointXYZ>::PointCloudGeometryHandlerXYZ(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&)’未定义的引用
CMakeFiles/test1.dir/test1.cpp.o：在函数‘bool pcl::visualization::PCLVisualizer::fromHandlersToScreen<pcl::PointXYZ>(pcl::visualization::PointCloudGeometryHandler<pcl::PointXYZ> const&, pcl::visualization::PointCloudColorHandler<pcl::PointXYZ> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&)’中：
test1.cpp:(.text._ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_8PointXYZEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE[_ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_8PointXYZEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE]+0x27d)：对‘pcl::visualization::PCLVisualizer::createActorFromVTKDataSet(vtkSmartPointer<vtkDataSet> const&, vtkSmartPointer<vtkLODActor>&, bool)’未定义的引用

在target_link_libraries一行中将头文件中包含的库都给链接上，换成大写就行，仿照着写。
改写完成之后，一样的新建build,cmake …,build
就可以直接运行了。