Ubuntu16.04安装PCL

首先安装了一系列的库

     sudo apt-get update        //先更新，中文别复制
     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 libvtk5.10-qt4 libvtk5.10 libvtk5-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 qt-sdk openjdk-8-jdk openjdk-8-jre

然后更新软件

sudo apt-get update

然后安装VTK,想运行pcl的视觉模块，必须安装它。我安装的8.2版本的，亲测版本合适。

vtk的官网为：https://vtk.org/download/

下载完解压、安装、编译：

tar -zxvf VTK-8.2.0.tar.gz
cd VTK-8.2.0
mkdir build
cd build
cmake ..
sudo make
sudo make install

安装pcl

sudo apt-get install libpcl-dev pcl-tools

sudo apt-get install freeglut3-dev

至此，就已经安装了pcl 1.7.2版本。但是在工程的cmakelist文件里，需要添加需要

list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

这句修复指令。

---

下面给出完整的测试代码：

//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);

    std::cout << "Test PCL END!!!" << std::endl;
    while (!viewer.wasStopped()){ };
    return 0;
}

#CMakeLists.txt
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)

list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

编译运行

cmake .
make
./test

然后你可以鼠标控制视角旋转：

---

在这里有时候会报错找不到库

sudo ln -s  /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so

还有其他的类似：/usr/bin/ld: cannot find -l**** 问题的解决办法

sudo ln -s /usr/lib/libvtkproj4.so.5.10 /usr/lib/libvtkproj4.so

参考博客： https://blog.csdn.net/zouyu1746430162/article/details/53334968?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param