树莓派4B Ubuntu18.04不编译，直接拷贝库OpenCV+PCL+VTK+Realsense+Livox

树莓派4B Ubuntu18.04不编译，直接拷贝库OpenCV+PCL+VTK+Realsense+Livox

OpenCV 4.5.2+PCL1.8.1+VTK7.1+Realsense+Livox SDK2

安装ubuntu18.04系统暂省略，以下记录过程和遇到的问题：

更新系统

sudo apt-get update
sudo apt-get upgrade -y
sudo apt-get dist-upgrade

问题：ubuntu@ubuntu:~$ sudo apt-get upgrade
E: Could not get lock /var/lib/dpkg/lock-frontend - open (11: Resource temporarily unavailable)
E: Unable to acquire the dpkg frontend lock (/var/lib/dpkg/lock-frontend), is another process using it?
解决：

ubuntu@ubuntu:~$ sudo rm /var/lib/dpkg/lock-frontend
ubuntu@ubuntu:~$ sudo rm /var/lib/dpkg/lock

ps -ef | grep apt
sudo kill -9 xxxx 

安装向日葵

安装参考官网，找arm64的qilin版,最好用下面这个链接
下载链接
链接：https://pan.baidu.com/s/1yWuTfhCqMT6hEf9d-Xoa7Q?pwd=dh4t
提取码：dh4t

sudo dpkg -i 文件名.deb

拷贝库到新的树莓派设备–是已经在其他树莓派4b编译过的库

下载链接：
链接：https://pan.baidu.com/s/1UVLOPNXQnIsMwR43flHHFQ?pwd=8nk0
提取码：8nk0

目标如下：

安装QT

QT需要安装 ,Ubuntu18 默认安装的QT5.9.5 对应VTK显示用的是QVTKWidget控件

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install aptitude
sudo apt install -y g++
sudo apt install -y cmake
sudo apt install -y make
sudo apt install -y wget unzip

sudo apt-get install qt5-default      //安装默认基本库
sudo apt-get install qtcreator        //注意:有时候报libc版本冲突问题,建议换回默认源
sudo apt-get install qtdeclarative5-dev     //安装QtQuick
sudo apt-get install qtmultimedia5-dev     //安装QtMultimedia
sudo apt-get install  libqt5sql5-mysql          //安装QtMySQL
sudo apt-get install libqt5charts5-dev      //安装Qtchart

RealSense OpenCV4.5.2 PCL1.8.1 VTK7.1 LIVOX都是直接拷贝库

VTK

QVTKWidget添加到QtCreator

sudo find / -name libQVTKWidgetPlugin.so
复制到 /usr/lib/aarch64-linux-gnu/qt5/plugins/designer/

安装拷贝库

问题
/usr/bin/ld: warning: libQt5X11Extras.so.5, needed by /usr/local/lib/libvtkGUISupportQt-7.1.so.1, not found (try using -rpath or -rpath-link)
/usr/local/lib/libvtkGUISupportQt-7.1.so.1: undefined reference to QX11Info::display()@Qt_5’

undefined reference to QX11Info::display（）

sudo apt install libqt5x11extras5-dev

编译QT程序

问题1
cannot create file ,pro.user:Permission denied
解决

sudo chmod 777 ......

问题2
unknown module in QT：datavisualization
暂未解决，暂时不使用这个Module

问题3.0
libpcap.so.1 编译出错
这次是安装libibverbs的时候解决的（见问题3.1）

问题3.1
warning libopenni2.so.0 needed by /usr… not found (try using -rpath or -rpath-link)
warning libopenni.so.0 needed by /usr… not found (try using -rpath or -rpath-link)
warning libNxlib64.so needed by /usr… not found (try using -rpath or -rpath-link)
warning libflann_cpp.so needed by /usr… not found (try using -rpath or -rpath-link)
warning libibverbs.so.1 needed by /usr… not found (try using -rpath or -rpath-link)

解决1
安装基本库–有点用。主要是安装flann 和openni 和libibverbs

sudo apt-get install libflann1.9 libflann-dev
sudo apt-get install libopenni-dev
sudo aptitude install libibverbs1
sudo aptitude install libibverbs-dev

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 libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk6.3-qt libvtk6.3 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 openjdk-8-jdk openjdk-8-jre

解决2–没啥用
1）安装ensensor
下载安装包并安装。下载链接如下
Ensenso SDK Download
www.optonic.com/en/support/download/ensenso-sdk/

2）安装codemeter下载链接如下
www.wibu.com/support/user/user-software.html
选择linux arm64版本
Download runtime software for Wibu-Systems products - CodeMeter, WibuKey: Wibu-Systems

sudo dpkg -i ensenso-sdk-2.2.147-x64.deb 
sudo dpkg -i codemeter_6.80.3312.500_amd64.deb
 
sudo apt-get -f install

libibverbs:有用

sudo aptitude install libibverbs1
sudo aptitude install libibverbs-dev

没用

sudo aptitude install 以下没用
libnx-x11-dev libnx-x11-6 libnx-x11-6-dev libnxml-abi-0.18.3 
libnxt libnxcl-bin libnxml0 libnxcl-dev libnxml0-dbg libnxml0-dev libnxcl1v5

没办法，只能拷贝过去了，到usr/lib，以下几个–有用

稍微注意一下etc/ld.so.conf.d的库引入，不确定是否有用

文件权限

sudo nautilus

以上，可以直接运行，不需要编译各种库