ubuntu16.04 Lidar 工作环境配置（Qt-＞VTK-＞PCL)

前言

一、安装ceres

二、安装PCL

1.下载安装Qt5.12.3

2.VTK安装

         3.PCL安装

总结

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前言

    小白借鉴不少大神的博客经验，中间也遇到了不少新问题，总算还好，一路上过关斩将，升级打怪，终于完成了PCL安装。特来记录一下，源码安装我将下载的压缩包放在/home，sudo扩大权限（解决permission denied)。

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一、安装ceres

安装借鉴此文章 ，此包可不用先安装，等有需要时，再安装。小白仅仅记录一下安装步骤。

（1）卸载原有的eigen3

$ sudo updatedb 
$ locate eigen3 
$ sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums

(2)  依赖项

$ sudo apt-get install libopenblas-dev
$ sudo apt-get install --no-install-recommends libboost1.58-all-dev
$ sudo apt-get install libx11-dev
$ sudo apt-get install libgl1-mesa-dev
$ sudo apt-get install libglu1-mesa-dev 
$ sudo apt-get install freeglut3-dev
$ sudo apt-get install doxygen
$ sudo apt-get install cmake
$ sudo wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz --no-check-certificate
$ sudo tar -zxvf glew-2.1.0.tgz
$ cd glew-2.1.0/
$ sudo make 
$ sudo make install
$ sudo ldconfig -v

(3)下载安装eigen3.3.7  ，并调整映射路径

$ sudo tar -zxvf eigen-3.3.7.tar.gz
$ cd eigen-3.3.7  
$ sudo mkdir build && cd build
$ sudo cmake ..
$ sudo make 
$ sudo make install
$ sudo ldconfig -v
$ sudo cp -r /usr/local/include/eigen3 /usr/include/eigen3 
$ sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

（4）添加源，安装相应依赖

$ sudo gedit /etc/apt/sources.list

将下面源加入source.list 文件最上方，save并退出

deb http://cz.archive.ubuntu.com/ubuntu trusty main universe

依赖项

$ sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev 
$ sudo apt-get install libgoogle-glog-dev libgtest-dev

（5）下载安装ceres 1.14.0

$ sudo tar -xzvf ceres-solver-1.14.0.tar.gz
$ cd ceres-solver-1.14.0  
$ sudo mkdir build 
$ cd  build
$ sudo cmake ..
$ sudo make 
$ sudo make install

二、安装PCL

主要借鉴此文章1，2

准备阶段：安装依赖项

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 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   
sudo apt-get install libopenni2-dev 

1.下载安装Qt5.12.3

chmod +x qt-opensource-linux-x64-5.12.3.run
sudo ./qt-opensource-linux-x64-5.12.3.run

 （1）注册并登录Qt帐号，安装全部内容。

（2）安装ros_qtc_plugin 插件

sudo add-apt-repository ppa:levi-armstrong/qt-libraries-xenial
sudo add-apt-repository ppa:levi-armstrong/ppa
sudo apt-get update
sudo apt-get install qt57creator-plugin-ros

（3）修改系统文件并测试

sudo gedit /usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf
 
 




/usr/lib/x86_64-linux-gnu/qt4/bin
/usr/lib/x86_64-linux-gnu
 
将上面内容根据自己的qt安装路径修改为如下所示：
 
/opt/Qt5.12.3/5.12.3/gcc_64/bin
/opt/Qt5.12.3/5.12.3/gcc_64/lib

qtcreator-ros

（4）查看安装qt版本

qmake -v

（5）若想删除qt，才使用该步骤

进入自己qt安装路径，输入

sudo ./MaintenanceTool

2.VTK安装

（1）安装依赖项

sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install cmake
sudo apt-get cmake-gui 

（2）下载 安装VTK7.1.1

sudo tar -zxvf vtk-7.1.1.tar.gz 
cd vtk-7.1.1  
mkdir build && cd build
sudo cmake ..
sudo cmake-gui #此后按照参考博客操作
sudo make
sudo make install

 (3)添加QVTK控件

sudo cp /usr/local/plugins/designer/libQVTKWidgetPlugin.so /opt/Qt5.12.3/Tools/QtCreator/lib/Qt/plugins/designer/

3.PCL安装

(1)下载PCL1.8.1并安装

sudo tar -zxvf pcl-pcl-1.8.0.tar.gz
cd pcl-pcl-1.8.0 
mkdir build 
cd build
sudo cmake -DCMAKE_BUILD_TYPE=Release ..
sudo make
sudo make install

(2)测试(sudo gedit 文件名称）

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;
}

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CMakeLists.txt文件

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)

 新建文件夹，新建build，将上述文件放入同一个文件夹里

进入目录执行

sudo cmake .
sudo make
sudo ./pcl_test

总结

  欢迎交流呀。