linux：ubuntu16.04LTS 安裝PCL1.8

ubuntu16.04LTS 安裝PCL1.8

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PCL1.9 貌似沒有visualization ，不知道爲什麼不能 include頭文件，因此重新下載PCL1.8 ，編譯，安裝

一、下載源代碼

https://github.com/PointCloudLibrary/pcl/releases

找到PCL1.8

 

二、安裝必要的依賴

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

三、camke 

     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 ..

四、make

make
sudo make install

五、建立鏈接

首先用whereis  libpcl_common.so 來查找這個.so文件的路徑，然後執行下面的命令（使用對應的路徑）建立鏈接

sudo ln -s /usr/local/lib/libpcl_common.so /usr/lib/x86_64-linux-gnu/libpcl_common.so

sudo ln -s /usr/local/lib/libpcl_octree.so /usr/lib/x86_64-linux-gnu/libpcl_octree.so

sudo ln -s /usr/local/lib/libpcl_io.so /usr/lib/x86_64-linux-gnu/libpcl_io.so

 

六、其他

如果不是自己編譯PCL，而是apt install，則你需要安裝vtk

sudo apt-get install libproj-dev

然後 ：

在cmakelist中加一條指令修復，即在add_executable語句前面加上list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

具體參見：https://blog.csdn.net/danmeng8068/article/details/77341532