cmake怎么编译 eigen c++_Ubuntu 16.04 编译安装PCL

1. 从Github下载PCL源码(地址):

2. 安装依赖项:

sudo apt-get install libflann-dev 
sudo apt-get install libvtk5-dev 
sudo apt-get install libboost-all-dev 
sudo apt-get install libeigen3-dev

3. 编译:

解压PCL源码并进入目录:

新建"build"文件夹并进入:

mkdir build && cd build

编译:

cmake -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_visualization=ON .. 

查看输出信息:

A: No package 'metslib' found. 下载安装

B: The minimum required version of VTK is 6.2 bu found 5.10.1: 删除旧版, 安装新版.

重新编译:

cmake -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_visualization=ON ..
make -j8 

安装:

sudo make install

4. 测试(视觉SLAM十四讲CH5 joinMap)

joinMap.cpp

#include 

CMakeFiles.txt

cmake_minimum_required( VERSION 2.8 )
project( joinMap )

set( CMAKE_BUILD_TYPE Release )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )

# opencv 
find_package( OpenCV REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

# eigen 
include_directories( "/usr/include/eigen3/" )

# pcl 
#find_package( PCL 1.10 REQUIRED COMPONENT common io )
#include_directories( ${PCL_INCLUDE_DIRS} )
#add_definitions( ${PCL_DEFINITIONS} )

find_package( PCL 1.10 REQUIRED COMPONENT common io )
include_directories( "/usr/include/pcl-1.10/" )
add_definitions( "/usr/share/pcl-1.10/" )
link_directories("/usr/lib/libpcl_common.so" "/usr/lib/libpcl_io.so")

add_executable( joinMap joinMap.cpp )
target_link_libraries( joinMap ${OpenCV_LIBS} ${PCL_LIBRARIES} )

查看 .pcd文件:

pcl_viewer map.pcd