在PCL官方的说明文档里给明了PCL的所依赖的三方库: PCL官方安装
包括:Boost、Eigen、FLANN、VTK,其中VTK又依赖与QT5。
下面介绍各个库的安装方法。
一、PCL
参考我的这篇博客:https://blog.csdn.net/huoxingrenhdh/article/details/83780506
二、Boost
boost安装只需要下面一行即可
sudo apt-get update
sudo apt-get install libboost-all-dev
三、Eigen3
sudo apt-get update
sudo apt-get install libeigen3-dev
四、QT5
(1)首先在https://www.qt.io/download-open-source/#section-2中通过邮箱注册下载得到 qt-opensource-linux-x64-5.2.1.run
(2)然后在qt-opensource-linux-x64-5.2.1.run所在的目录下打开终端,执行下面两行代码:
chmod +x qt-opensource-linux-x64-5.2.1.run
./qt-opensource-linux-x64-5.2.1.run
就会出现Qt安装对话框,然后默认安装。
五、VTK
1)VTK之前还要先安装好OpenGL和cmake-gui等
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libxt-dev
sudo apt install cmake-curses-gui
2)下载VTK:安装包
3)准备编译文件目录:在vtk目录下建立build文件夹,
cd build
ccmake ..
4)编译过程
注意设置:BUILD_SHARE_LIBS 选择ON,其它的可以不做更改。
再次按c进行配置确认,按g保存配置。
5)执行make:过程漫长
sudo make
6)安装
sudo make -j 8 install
7)添加环境变量 .bash_profile, .bashrc, or .profile file
LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/lib/vtk-6.3"
PYTHONPATH="$PYTHONPATH:/usr/local/lib/vtk-6.3"
安装完成!
六、错误处理
如果在cmake的时候发现有以下错误:
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:26
(find_package):
Could not find a package configuration file provided by "Qt5Designer" with
any of the following names:
Qt5DesignerConfig.cmake
qt5designer-config.cmake
Add the installation prefix of "Qt5Designer" to CMAKE_PREFIX_PATH or set
"Qt5Designer_DIR" to a directory containing one of the above files. If
"Qt5Designer" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
GUISupport/Qt/CMakeLists.txt:113 (find_package)
这就意思就是要添加Qt5Designer的安装路径的前缀到CMAKE_PREFIX_PATH
解决方式:
export CMAKE_PREFIX_PATH=/home/hdh/Qt5.9.1/5.9.1/gcc_64/lib/cmake/
参考文档:
https://blog.csdn.net/wanguku/article/details/60476469
https://blog.csdn.net/jiangjiang_jian/article/details/80104603