PCL/python-pcl Linux源码编译安装

链接

PCL官网：http://www.pointclouds.org/

PCL GitHub：https://github.com/PointCloudLibrary/pcl

python-pcl GitHub：https://github.com/strawlab/python-pcl

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PCL编译安装

1、下载pcl-pcl-1.9.1.zip，解压；

2、mkdir build && cd build

3、cmake .. -DCMAKE_BUILD_TYPE=Release

4、make -j8 && make install -j8

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python-pcl安装

1、安装依赖包：numpy, Cython==0.25.2

2、sh build.sh

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问题

1、服务器端编译PCL，不需要OpenGL/VTK等显示工具。

VTK找不到只会报警告，不碍事。

CMake Warning at CMakeLists.txt:366 (find_package):
  By not providing "FindVTK.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "VTK", but
  CMake did not find one.

  Could not find a package configuration file provided by "VTK" with any of
  the following names:

    VTKConfig.cmake
    vtk-config.cmake

  Add the installation prefix of "VTK" to CMAKE_PREFIX_PATH or set "VTK_DIR"
  to a directory containing one of the above files.  If "VTK" provides a
  separate development package or SDK, be sure it has been installed.

若需要关闭OpenGL依赖，修改PCL源码包根目录CMakeLists.txt 第414行如下。

# 错误代码
Could NOT find OpenGL (missing: OPENGL_INCLUDE_DIR)

# 取消OpenGL依赖
option(WITH_OPENGL "Support for OpenGL" FALSE)

2、指定安装路径

修改PCL源码包根目录CMakeLists.txt，找到这两行，打开。

SET(CMAKE_SKIP_BUILD_RPATH  TRUE)
SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)  

然后，在使用cmake生成工程的时候，加上：

cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/path/to/install

3、安装python-pcl时，提示找不到pcl_2d-1.8.pc

错误代码

Package pcl_2d-1.8 was not found in the pkg-config search path.
Perhaps you should add the directory containing `pcl_2d-1.8.pc'
to the PKG_CONFIG_PATH environment variable

修改pcl_install_path/lib/pkgconfig/pcl_features-1.8.pc，第10行，去掉最后的pcl_2d-1.8。

Requires:  pcl_common-1.8 pcl_search-1.8 pcl_kdtree-1.8 pcl_octree-1.8 pcl_filters-1.8