ubuntu下PCL库编译安装

从PCL github仓库中下载最新的release, 解压并进入目录中, 创建build目录并进入, 在该目录中进行make编译安装

我的GPU是a卡, 用不了cuda框架, 在build目录下执行以下命令完成编译安装:

cmake ..
make -j4
sudo make install

第一行命令是很关键的, 在第一行命令运行通过后, 下面两行命令就顺利地跑完了。所以在编译安装中最重要的设置就是对第一行命令的处理,一些库的依赖可以根据这一行命令的报错来安装,我不想把库全列举出来,我这次安装依赖的思路是需要什么安装什么(apt search)。这次我在报错后安装的库有eigen3、libusb1.0、flann、vtk、qhull, 另外有关于OPENGL依赖的报错我就通过命令

sudo apt-get install libgl1-mesa-dev

来解决。还有两个依赖的报错:metslib(没找到解决方法)、PCAP(查metslib解决方法时发现很多人都没去解决这个依赖所以我也不解决了)我没去解决。

最终第一条命令的执行结果说找到了我所安装的依赖,没找到我没安装的依赖(对vtk的情况报出一些warning),告诉我可以安装哪些部件,还有一些部件是不能安装的,这些部件应该是本身设置的问题。

参考链接:

详细——Ubuntu下源码安装PCL1.8

Linux下 PCL源码安装

附录:

以下粘贴第一条命令执行结果,以供参考:

-- The C compiler identification is GNU 9.2.1
-- The CXX compiler identification is GNU 9.2.1
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Using CPU native flags for SSE optimization: -march=native
-- Performing Test HAVE_MM_MALLOC
-- Performing Test HAVE_MM_MALLOC - Success
-- Performing Test HAVE_POSIX_MEMALIGN
-- Performing Test HAVE_POSIX_MEMALIGN - Success
-- Performing Test HAVE_SSE4_2_EXTENSIONS
-- Performing Test HAVE_SSE4_2_EXTENSIONS - Success
-- Performing Test HAVE_SSE4_1_EXTENSIONS
-- Performing Test HAVE_SSE4_1_EXTENSIONS - Success
-- Performing Test HAVE_SSSE3_EXTENSIONS
-- Performing Test HAVE_SSSE3_EXTENSIONS - Success
-- Performing Test HAVE_SSE3_EXTENSIONS
-- Performing Test HAVE_SSE3_EXTENSIONS - Success
-- Performing Test HAVE_SSE2_EXTENSIONS
-- Performing Test HAVE_SSE2_EXTENSIONS - Success
-- Performing Test HAVE_SSE_EXTENSIONS
-- Performing Test HAVE_SSE_EXTENSIONS - Success
-- -- GCC > 4.3 found, enabling -Wabi
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Found OpenMP
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.7
-- Found Eigen: /usr/include/eigen3  
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- Checking for module 'flann>=1.7.0'
--   Found flann, version 1.9.1
-- FLANN found (include: , lib: lz4;flann;flann_cpp)
-- Found LIBUSB_1: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.23
-- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Could NOT find OpenNI (missing: OPENNI_LIBRARIES OPENNI_INCLUDE_DIRS) 
-- OpenNI grabber support: not building because OpenNI not found
-- Could NOT find OpenNI2 (missing: OPENNI2_LIBRARIES OPENNI2_INCLUDE_DIRS) 
-- OpenNI2 grabber support: not building because OpenNI2 not found
-- Could NOT find FZAPI (missing: FZAPI_LIBS FZAPI_INCLUDE_DIRS) 
-- Fotonic camera support: not building because FZAPI not found
-- Could NOT find ENSENSO (missing: ENSENSO_LIBRARIES ENSENSO_INCLUDE_DIRS) 
-- IDS-Imaging Ensenso camera support: not building because Ensenso not found
-- Could NOT find davidSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
-- David Vision Systems SDK support: not building because davidSDK not found
-- Could NOT find DSSDK (missing: DSSDK_LIBRARIES DSSDK_INCLUDE_DIRS) 
-- DepthSense SDK support: not building because DSSDK not found
-- Could NOT find RSSDK (missing: RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS) 
-- RealSense SDK support: not building because RSSDK not found
-- Checking for module 'metslib'
--   No package 'metslib' found
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11") 
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37") 
-- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so  
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- VTK_MAJOR_VERSION 7, rendering backend: OpenGL2
-- VTK found (include: /usr/include/vtk-7.1;/usr/include/freetype2;/usr/include;/usr/include/x86_64-linux-gnu;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include;/usr/include/python3.7m;/usr/include/hdf5/openmpi;/usr/include/jsoncpp;/usr/include/libxml2;/usr/include/tcl, lib: vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkDICOMParser;vtkDomainsChemistry;vtkIOLegacy;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkDomainsChemistryOpenGL2;vtkRenderingOpenGL2;vtkIOImage;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkFiltersAMR;vtkIOXML;vtkParallelCore;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelDIY2;vtkParallelMPI;vtkFiltersParallelFlowPaths;vtkFiltersParallelGeometry;vtkFiltersParallelImaging;vtkFiltersParallelMPI;vtkFiltersParallelStatistics;vtkFiltersPoints;vtkFiltersProgrammable;vtkFiltersPython;/usr/lib/x86_64-linux-gnu/libpython3.7m.so;vtkWrappingPythonCore;vtkWrappingTools;vtkFiltersReebGraph;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGUISupportQt;vtkInteractionStyle;vtkGUISupportQtSQL;vtkIOSQL;sqlite3;vtkGeovisCore;vtkInfovisLayout;vtkImagingHybrid;vtkInteractionWidgets;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkViewsCore;/usr/lib/x86_64-linux-gnu/libproj.so;vtkIOAMR;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi.so;/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi_cxx.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5_hl.so;vtkIOEnSight;vtkIOExodus;vtkexoIIc;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;vtkIOExport;vtkRenderingGL2PSOpenGL2;/usr/lib/x86_64-linux-gnu/libgl2ps.so;vtkIOFFMPEG;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkIOGDAL;vtkIOGeoJSON;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOGeometry;vtkIOImport;vtkIOInfovis;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkIOLSDyna;vtkIOMINC;vtkIOMPIImage;vtkIOMPIParallel;vtkIOParallel;vtkIONetCDF;vtkIOMySQL;vtkIOODBC;vtkIOPLY;vtkIOParallelExodus;vtkIOParallelLSDyna;vtkIOParallelNetCDF;vtkIOParallelXML;vtkIOPostgreSQL;vtkIOTecplotTable;vtkIOVPIC;VPIC;vtkIOVideo;vtkIOXdmf2;vtkxdmf2;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInfovisBoostGraphAlgorithms;vtkInteractionImage;vtkLocalExample;vtkParallelMPI4Py;vtkPythonInterpreter;vtkRenderingContextOpenGL2;vtkRenderingExternal;vtkRenderingFreeTypeFontConfig;vtkRenderingImage;vtkRenderingLICOpenGL2;vtkRenderingLOD;vtkRenderingLabel;vtkRenderingMatplotlib;vtkRenderingParallel;vtkRenderingParallelLIC;vtkRenderingSceneGraph;vtkRenderingVolumeAMR;vtkRenderingVolumeOpenGL2;vtkTestingGenericBridge;vtkTestingIOSQL;vtkTestingRendering;vtkViewsContext2D;vtkViewsGeovis;vtkViewsInfovis;vtkWrappingJava
-- Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS) 
CMake Warning (dev) at /usr/share/cmake-3.13/Modules/FindOpenGL.cmake:270 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  cmake/pcl_find_gl.cmake:6 (find_package)
  CMakeLists.txt:416 (include)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - found
-- Found Threads: TRUE  
-- Boost version: 1.67.0
-- Found the following Boost libraries:
--   filesystem
--   thread
--   date_time
--   iostreams
--   system
--   chrono
--   atomic
--   regex
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- Found Glew: /usr/lib/x86_64-linux-gnu/libGLEW.so
-- DOXYGEN_FOUND 
-- HTML_HELP_COMPILER 
-- Found CPack generators: DEB
-- The following subsystems will be built:
--   common
--   kdtree
--   octree
--   search
--   sample_consensus
--   filters
--   2d
--   geometry
--   io
--   features
--   ml
--   segmentation
--   visualization
--   surface
--   registration
--   keypoints
--   tracking
--   recognition
--   stereo
--   outofcore
--   people
--   tools
-- The following subsystems will not be built:
--   apps: No reason
--   examples: Code examples are disabled by default.
--   simulation: Disabled by default.
--   global_tests: No reason
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tellw/pcl-pcl-1.9.1/build

 

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