一.安装pcl1.9
1. 安装依赖
sudo apt-get install g++
sudo apt-get install cmake cmake-gui
sudo apt-get install doxygen
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 libvtk6-dev libvtk6.2 libvtk6.2-qt
sudo apt-get install 'libqhull*'
sudo apt-get install libusb-dev
sudo apt-get install libgtest-dev
sudo apt-get install git-core freeglut3-dev pkg-config
sudo apt-get install build-essential libxmu-dev libxi-dev
sudo apt-get install libusb-1.0-0-dev graphviz mono-complete
sudo apt-get install qt-sdk openjdk-9-jdk openjdk-9-jre
sudo apt-get install phonon-backend-gstreamer
sudo apt-get install phonon-backend-vlc
sudo apt-get install libopenni-dev libopenni2-dev
可以将上述命令放入pcl_dependences.sh,到所在文件,终端输入:
sudo sh install_pcl_dependences.sh
2.从github 下载pcl1.9
git clone -b pcl-1.9.1 https://github.com/PointCloudLibrary/pcl.git
git clone -b pcl-1.9.1 下载pcl分支,版本pcl-1.9.1
3.编译安装
cd pcl
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr ..
make -j6
sudo make install
make -j(6) 6根据自己的cpu核数确定
4.安装可视化依赖(可选)
安装 OpenNI,OpenNI2
sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev
二.安装python-pcl1.9
1.首先安装vtk
下载vtk,拷贝到安装目录下
百度网盘下载链接: https://pan.baidu.com/s/1UGxBn7imrPeJ7h78EH-j6Q
提取码: ggnd
tar -xzvf VTK-8.1.0.tar.gz
cd VTK-8.1.0
mkdir build
cd build/
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON -DBUILD_TESTING=OFF ..
make -j6
sudo make install
2.安装numpy,cython
pip install numpy==1.16.1
pip install cython==0.26
3. 安装Python-pcl
源码下载
git clone https://github.com/strawlab/python-pcl.git
cd python-pcl
打开python-pcl中的setup.py,删除里面的一些vtk依赖
(763行以后,也就是所对应的vtk8.1版本):
删除内容如下:
'vtkFiltersPython-'+ vtk_version
'vtkPythonInterpreter'+ vtk_version
'vtkRenderingMatplotlib'+ vtk_version
'vtkWrappingTools'+ vtk_version
保存好开始安装:
python setup.py build_ext -i
sudo python setup.py install
最后显示如下:
python-pcl==0.3.0rc1
无关紧要:markdown缩进
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参考博文
ubuntu18.04安装pcl
ubuntu18.04安装python-pcl
python-pcl安装问题解决
Python-pcl求解各种坑