ubuntu18.04安装python pcl_Ubuntu18.04源码编译安装python-pcl记录

由于Ubuntu18.04默认apt安装的pcl是1.8，在conda环境下pip安装python-pcl以后，import pcl以后会报错找不到libpcl_****.so.1.7，也就缺少pcl1.7的动态链接库，因此建议下载源码编译安装。https://github.com/strawlab/python-pcl​github.com

环境准备

name: python-pcl

channels:

- !!python/unicode

'conda-forge'

- !!python/unicode

'menpo'

- !!python/unicode

'sirokujira'

- !!python/unicode

'defaults'

dependencies:

- Cython=0.28.5

- pcl=1.8.1

- vtk=8.0.1

- matplotlib

- numpy

以上是在python-pcl源码目录下的environment.yml文件中

pcl和vtk就老老实实的按照官方给的步骤安装，建议源码编译安装，但是自己下载源码编译的时候，默认安装的库的路径是/usr/local/lib，头文件的安装路径是/usr/local/include。这需要注意。

PS.推荐使用cmake-gui安装，附上我安装vtk的时候选择安装的库

然后最重要的一步就是修改python-pcl目录下的setup.py源码

因为setup.py代码中没有针对Ubuntu18的环境，所以需要自己修改。

重点修改的部分有以下几个地方

一、VTK的版本

以下这段代码在setup.py 200行左右

elif pcl_version == '-1.8':

# PCL 1.8.0 python Version >= 3.5

# Visual Studio 2015/2017

if info.major == 3 and info.minor >= 5:

# PCL 1.8.1

boost_version = '1_64'

vtk_version = '8.0'

# pcl-1.8

# 1.8.1 use 2d required features

pcl_libs = ["2d", "common", "features", "filters", "geometry",

"io", "kdtree", "keypoints", "ml", "octree", "outofcore", "people",

"recognition", "registration", "sample_consensus", "search",

"segmentation", "stereo", "surface", "tracking", "visualization"]

pass

凡是与pcl1.8对应的vtk版本均需要改成8.0，包括后面的代码段，可以用Ctrl+F搜索一下然后进行修改。

二、引用的VTK库

这段代码在420行左右

elif vtk_version == '8.0':

# pcl_version 1.8.1

# vtklibreleases = ['vtkalglib-' + vtk_version, 'vtkChartsCore-' + vtk_version, 'vtkCommonColor-' + vtk_version, 'vtkCommonComputationalGeometry-' + vtk_version, 'vtkCommonCore-' + vtk_version, 'vtkCommonDataModel-' + vtk_version, 'vtkCommonExecutionModel-' + vtk_version, 'vtkCommonMath-' + vtk_version, 'vtkCommonMisc-' + vtk_version, 'vtkCommonSystem-' + vtk_version, 'vtkCommonTransforms-' + vtk_version, 'vtkDICOMParser-' + vtk_version, 'vtkDomainsChemistry-' + vtk_version, 'vtkexoIIc-' + vtk_version, 'vtkFiltersAMR-' + vtk_version, 'vtkFiltersCore-' + vtk_version, 'vtkFiltersExtraction-' + vtk_version, 'vtkFiltersFlowPaths-' + vtk_version, 'vtkFiltersGeneral-' + vtk_version, 'vtkFiltersGeneric-' + vtk_version, 'vtkFiltersGeometry-' + vtk_version, 'vtkFiltersHybrid-' + vtk_version, 'vtkFiltersHyperTree-' + vtk_version, 'vtkFiltersImaging-' + vtk_version, 'vtkFiltersModeling-' + vtk_version, 'vtkFiltersParallel-' + vtk_version, 'vtkFiltersParallelImaging-' + vtk_version, 'vtkFiltersProgrammable-' + vtk_version, 'vtkFiltersSelection-' + vtk_version, 'vtkFiltersSMP-' + vtk_version, 'vtkFiltersSources-' + vtk_version, 'vtkFiltersStatistics-' + vtk_version, 'vtkFiltersTexture-' + vtk_version, 'vtkFiltersVerdict-' + vtk_version, 'vtkfreetype-' + vtk_version, 'vtkGeovisCore-' + vtk_version, 'vtkgl2ps-' + vtk_version, 'vtkhdf5-' + vtk_version, 'vtkhdf5_hl-' + vtk_version, 'vtkImagingColor-' + vtk_version, 'vtkImagingCore-' + vtk_version, 'vtkImagingFourier-' + vtk_version, 'vtkImagingGeneral-' + vtk_version, 'vtkImagingHybrid-' + vtk_version, 'vtkImagingMath-' + vtk_version, 'vtkImagingMorphological-' + vtk_version, 'vtkImagingSources-' + vtk_version, 'vtkImagingStatistics-' + vtk_version, 'vtkImagingStencil-' + vtk_version, 'vtkInfovisCore-' + vtk_version, 'vtkInfovisLayout-' + vtk_version, 'vtkInteractionImage-' + vtk_version, 'vtkInteractionStyle-' + vtk_version, 'vtkInteractionWidgets-' + vtk_version, 'vtkIOAMR-' + vtk_version, 'vtkIOCore-' + vtk_version, 'vtkIOEnSight-' + vtk_version, 'vtkIOExodus-' + vtk_version, 'vtkIOExport-' + vtk_version, 'vtkIOGeometry-' + vtk_version, 'vtkIOImage-' + vtk_version, 'vtkIOImport-' + vtk_version, 'vtkIOInfovis-' + vtk_version, 'vtkIOLegacy-' + vtk_version, 'vtkIOLSDyna-' + vtk_version, 'vtkIOMINC-' + vtk_version, 'vtkIOMovie-' + vtk_version, 'vtkIONetCDF-' + vtk_version, 'vtkIOParallel-' + vtk_version, 'vtkIOParallelXML-' + vtk_version, 'vtkIOPLY-' + vtk_version, 'vtkIOSQL-' + vtk_version, 'vtkIOVideo-' + vtk_version, 'vtkIOXML-' + vtk_version, 'vtkIOXMLParser-' + vtk_version, 'vtkjpeg-' + vtk_version, 'vtkjsoncpp-' + vtk_version, 'vtklibxml2-' + vtk_version, 'vtkmetaio-' + vtk_version, 'vtkNetCDF-' + vtk_version, 'vtkoggtheora-' + vtk_version, 'vtkParallelCore-' + vtk_version, 'vtkpng-' + vtk_version, 'vtkproj4-' + vtk_version, 'vtkRenderingAnnotation-' + vtk_version, 'vtkRenderingContext2D-' + vtk_version, 'vtkRenderingContextOpenGL-' + vtk_version, 'vtkRenderingCore-' + vtk_version, 'vtkRenderingFreeType-' + vtk_version, 'vtkRenderingGL2PS-' + vtk_version, 'vtkRenderingImage-' + vtk_version, 'vtkRenderingLabel-' + vtk_version, 'vtkRenderingLIC-' + vtk_version, 'vtkRenderingLOD-' + vtk_version, 'vtkRenderingOpenGL-' + vtk_version, 'vtkRenderingVolume-' + vtk_version, 'vtkRenderingVolumeOpenGL-' + vtk_version, 'vtksqlite-' + vtk_version, 'vtksys-' + vtk_version, 'vtktiff-' + vtk_version, 'vtkverdict-' + vtk_version, 'vtkViewsContext2D-' + vtk_version, 'vtkViewsCore-' + vtk_version, 'vtkViewsInfovis-' + vtk_version, 'vtkzlib-' + vtk_version]

# vtk8.0

# all-in-one-package(OpenGL)

vtklibreleases = ['vtkalglib-' + vtk_version, 'vtkChartsCore-' + vtk_version, 'vtkCommonColor-' + vtk_version, 'vtkCommonComputationalGeometry-' + vtk_version, 'vtkCommonCore-' + vtk_version, 'vtkCommonDataModel-' + vtk_version, 'vtkCommonExecutionModel-' + vtk_version, 'vtkCommonMath-' + vtk_version, 'vtkCommonMisc-' + vtk_version, 'vtkCommonSystem-' + vtk_version, 'vtkCommonTransforms-' + vtk_version, 'vtkDICOMParser-' + vtk_version, 'vtkDomainsChemistry-' + vtk_version, 'vtkexoIIc-' + vtk_version, 'vtkFiltersAMR-' + vtk_version, 'vtkFiltersCore-' + vtk_version, 'vtkFiltersExtraction-' + vtk_version, 'vtkFiltersFlowPaths-' + vtk_version, 'vtkFiltersGeneral-' + vtk_version, 'vtkFiltersGeneric-' + vtk_version, 'vtkFiltersGeometry-' + vtk_version, 'vtkFiltersHybrid-' + vtk_version, 'vtkFiltersHyperTree-' + vtk_version, 'vtkFiltersImaging-' + vtk_version, 'vtkFiltersModeling-' + vtk_version, 'vtkFiltersParallel-' + vtk_version, 'vtkFiltersParallelImaging-' + vtk_version, 'vtkFiltersProgrammable-' + vtk_version, 'vtkFiltersSelection-' + vtk_version, 'vtkFiltersSMP-' + vtk_version, 'vtkFiltersSources-' + vtk_version, 'vtkFiltersStatistics-' + vtk_version, 'vtkFiltersTexture-' + vtk_version, 'vtkFiltersVerdict-' + vtk_version, 'vtkGeovisCore-' + vtk_version, 'vtkgl2ps-' + vtk_version, 'vtkhdf5-' + vtk_version, 'vtkhdf5_hl-' + vtk_version, 'vtkImagingColor-' + vtk_version, 'vtkImagingCore-' + vtk_version, 'vtkImagingFourier-' + vtk_version, 'vtkImagingGeneral-' + vtk_version, 'vtkImagingHybrid-' + vtk_version, 'vtkImagingMath-' + vtk_version, 'vtkImagingMorphological-' + vtk_version, 'vtkImagingSources-' + vtk_version, 'vtkImagingStatistics-' + vtk_version, 'vtkImagingStencil-' + vtk_version, 'vtkInfovisCore-' + vtk_version, 'vtkInfovisLayout-' + vtk_version, 'vtkInteractionImage-' + vtk_version, 'vtkInteractionStyle-' + vtk_version, 'vtkInteractionWidgets-' + vtk_version, 'vtkIOAMR-' + vtk_version, 'vtkIOCore-' + vtk_version, 'vtkIOEnSight-' + vtk_version, 'vtkIOExodus-' + vtk_version, 'vtkIOExport-' + vtk_version, 'vtkIOGeometry-' + vtk_version, 'vtkIOImage-' + vtk_version, 'vtkIOImport-' + vtk_version, 'vtkIOInfovis-' + vtk_version, 'vtkIOLegacy-' + vtk_version, 'vtkIOLSDyna-' + vtk_version, 'vtkIOMINC-' + vtk_version, 'vtkIOMovie-' + vtk_version, 'vtkIONetCDF-' + vtk_version, 'vtkIOParallel-' + vtk_version, 'vtkIOParallelXML-' + vtk_version, 'vtkIOPLY-' + vtk_version, 'vtkIOSQL-' + vtk_version, 'vtkIOVideo-' + vtk_version, 'vtkIOXML-' + vtk_version, 'vtkIOXMLParser-' + vtk_version, 'vtkjsoncpp-' + vtk_version, 'vtkmetaio-' + vtk_version, 'vtkNetCDF-' + vtk_version, 'vtkoggtheora-' + vtk_version, 'vtkParallelCore-' + vtk_version, 'vtkproj4-' + vtk_version, 'vtkRenderingAnnotation-' + vtk_version, 'vtkRenderingContext2D-' + vtk_version, 'vtkRenderingCore-' + vtk_version, 'vtkRenderingFreeType-' + vtk_version, 'vtkRenderingGL2PS-' + vtk_version, 'vtkRenderingImage-' + vtk_version, 'vtkRenderingLabel-' + vtk_version, 'vtkRenderingLOD-' + vtk_version, 'vtkRenderingOpenGL-' + vtk_version, 'vtkRenderingVolume-' + vtk_version, 'vtkRenderingVolumeOpenGL-' + vtk_version, 'vtksqlite-' + vtk_version, 'vtksys-' + vtk_version, 'vtktiff-' + vtk_version, 'vtkverdict-' + vtk_version, 'vtkViewsContext2D-' + vtk_version, 'vtkViewsCore-' + vtk_version, 'vtkViewsInfovis-' + vtk_version, 'vtkzlib-' + vtk_version]

在编译的时候，有些源码里引用的vtk的库根本就不存在，安装vtk的时候也没找到这些库，所以编译的时候若是报错，找不到哪些库，源码中删了就是，不影响后续python-pcl的使用。

PS.以上代码段在setup.py出现了两次，要改需要同步修改。

三、引用库的路径

以下代码段在714行左右

else:

# pcl 1.7.0?(Ubuntu 14.04)

# vtk_version = '5.8'

# ext_args['include_dirs'].append('/usr/include/vtk-' + vtk_version)

# ext_args['library_dirs'].append('/usr/lib')

# pcl 1.7.2(Ubuntu 16.04)(xenial)

if pcl_version == '-1.7':

vtk_version = '6.2'

vtk_include_dir = os.path.join('/usr/include/vtk-' + vtk_version)

vtk_library_dir = os.path.join('/usr/lib')

elif pcl_version == '-1.8':

# pcl 1.8.0/1?(Ubuntu 18.04)(melodic)

vtk_version = '8.0'

# pcl 1.8.1?

# vtk_version = '8.0'

vtk_include_dir = os.path.join('/usr/local/include/vtk-' + vtk_version)

vtk_library_dir = os.path.join('/usr/local/lib')

elif pcl_version == '-1.9':

# pcl 1.9.1

# build install?

vtk_version = '8.1'

vtk_include_dir = os.path.join('/usr/include/vtk-' + vtk_version)

vtk_library_dir = os.path.join('/usr/lib')

else:

pass

需要修改的是中间pcl_version == '-1.8'

需要修改成我们自己编译安装的vtk的路径，如果是默认安装，路径应该和我一样

最后就可以愉快的安装python-pcl了

python setup.py build_ext -i

python setup.py install

如果有报错就具体根据错误修改源码

基本上无外乎几个错：找不到动态库啊也就是.so文件呐，路径错啊之类的

PS.话说python-pcl都已经好久没更新维护，还是C++好用哈哈哈