PCL安装
1.首先,要先安装一大堆依赖库
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 libvtk5.10-qt4 libvtk5.10 libvtk5-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
2.接着从github上把PCL源码clone下来
git clone https://github.com/PointCloudLibrary/pcl.git
3.编译源码
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
PCL卸载
卸载有问题的PCL1.7
(vtk bug
等等,例如:不能显示深度图)这里描述的pcl1.7,具体版本请查看自己安装的对应版本
sudo rm -r build
sudo rm -r /usr/include/pcl-1.7 /usr/share/pcl /usr/bin/pcl* /usr/lib/libpcl*
执行上述命令, 上述四个目录中,可能会找不到某些目录。可以自己去 usr
目录下搜索 关键字 pcl
或者 libpcl
。本人在目录 /usr/libx86_64-linux-gnu
下找到 相关libpcl*文件,删除即可,删除命令同上。