ubuntu下 QT配置PCL

PCL安装

1.安装依赖（pcl1.10+vtk6.2）

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
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 libvtk6.2 libvtk6.2-qt libvtk6-dev

sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
sudo apt-get install libopenni-dev libopenni2-dev

注意每个依赖安装是否成功，若安装失败也可能是网络原因，重新运行一次即可。

2.下载pcl源码

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

3.编译安装源码

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

sudo make install

4.测试

创建test.cpp文件

#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
using namespace pcl;

int main(int argc, char const *argv[])
{
	std::cout << "Test Pcl !" << std::endl;
	PointCloud<PointXYZRGB>::Ptr point_cloud_ptr(new PointCloud<PointXYZRGB>);
	uint8_t r(255), g(15), b(15);
	for(float z(-1.0); z <= 1.0; z += 0.05){
		for(float angle(0.0); angle <= 360.0; angle += 5.0){
			PointXYZRGB point;
			point.x = 0.5 * cosf (deg2rad(angle));
			point.y = sinf (deg2rad(angle));
			point.z = z;

			uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
				static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
			point.rgb = *reinterpret_cast<float*>(&rgb);
			point_cloud_ptr->points.push_back (point);
		}

		if(z < 0.0){
			r -= 12;
			g += 12;
		} else {
			g -= 12;
			b += 12;
		}
	}

	point_cloud_ptr->width = (int) point_cloud_ptr->points.size();
	point_cloud_ptr->height = 1;
	visualization::CloudViewer viewer("PCL Test");
	viewer.showCloud(point_cloud_ptr);
	while(!viewer.wasStopped()){};
	return 0;
}

创建 CMakeLists.txt文件

cmake_minimum_required(VERSION 2.6)
project(test_project)

find_package(PCL 1.8 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(test test.cpp)


target_link_libraries (test ${PCL_LIBRARIES})

编译test.cpp

cmake .
make

qt5安装

1.首次从Qt官网上下载 Qt5.12 的安装包

下载地址： http://download.qt.io/archive/qt/

选择对应系统的安装包。

2.安装

cd 到安装包 qt-opensource-linux-x86_64-5.12.5.run 所在的目录

chmod +x /qt-opensource-linux-x64-5.12.5.run 
 sudo /qt-opensource-linux-x64-5.12.5.run 

设置qt的安装路径，安装过程比较简单，这里不再赘述。

3.qt4切换到qt5

我们查看电脑已经安装的qt版本，打开文件路径 /usr/lib/x86_64-linux-gnu/qt-default/qtchooser，可以看到里面有一个default.conf文件，此时打开终端 .

cd /usr/lib/x86_64-linux-gnu/qt-default/qtchooser
sudo gedit default.conf

会看到

将内容改成安装目录下的

/安装目录/5.12.5/gcc_64/bin
/安装目录/5.12.5

测试qt工程
在*.pro文件中加入

CONFIG += c++14

INCLUDEPATH += /usr/include/eigen3

INCLUDEPATH += /usr/include/vtk-6.2
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so

INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so

INCLUDEPATH += /usr/include/pcl-1.10
LIBS += /usr/lib/libpcl_*.so

即可运行pcl库的c++工程。