Ubuntu18.04下安装PCL1.9.1

Ubuntu18.04下安装PCL1.9.1

参考博客：Ubuntu18.04下安装PCL1.9.1

step1：安装依赖库

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl  
sudo apt-get update  
sudo apt-get install libpcl-dev

STEP 2 ：从github 下载pcl1.8

git clone https://github.com/PointCloudLibrary/pcl.git 

STEP 3 ：编译安装

cd pcl 
mkdir release 
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make  

sudo make install

STEP 4 :安装可视化库依赖

安装OpenNI,OpenNI2

sudo apt-get install libopenni-dev 
sudo apt-get install libopenni2-dev

安装ensensor
下载文件
1、https://www.ensenso.com/support/sdk-download/
2、https://www.wibu.com/support/user/downloads-user-software.html

STEP 5 ：测试安装结果

安装 pcl-tools

sudo apt-get  install pcl-tools 

使用 pcl-viewer 进行pcd 点云可视化测试

cd pcl/test
pcl_viewer pcl_logo.pcd