1.安装各种依赖
先查询自己对应的版本:我是libvtk7.1
sudo apt-cache search libvtk
步骤
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 libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-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 openjdk-8-jdk openjdk-8-jre
遇到的一些问题
1. sudo apt-get update显示一堆InRelease
解决方法:
sudo apt-get clean
sudo mv /var/lib/apt/lists /tmp
sudo mkdir -p /var/lib/apt/lists/partial
sudo apt-get clean
sudo apt-get update
2.有些教程会给sudo apt-get install libflann1.8 libflann-dev,经查询我的是1.9
3.sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-dev这一步报错:
这个问题的核心是:软件包有未满足的依赖关系。
解决方法:
sudo apt-get install libvtk7-dev=7.1.1+dfsg1-2
如果还有类似报错,按照提示所需依赖进行安装,几次后会解决。(注意对应Dev,java等)
4.关于有些教程里最后一步会安装sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
执行会报错,这是因为18.04中qt-sdk已经被舍弃,不需要安装。
2.下载编译
网址GitHub - PointCloudLibrary/pcl: Point Cloud Library (PCL),找到对应PCL版本
下载对应source code压缩包
也可以用git clone https://github.com/PointCloudLibrary/pcl.git命令安装,一般默认安装最新版
编译
cd pcl
mkdir release
cd release
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
3.验证
cd /pcl/test
pcl_viewer car6.pcd
出现小汽车则说明安装成功!