ubuntu16.04安裝PCL

1.安裝最新的cmake版本

下載下傳位址https://cmake.org/download/

解壓 tar -xzvf cmake-3.18.1.tar.gz

cd cmake-3.18.1

./booststarp

make -j4

sudo make install

2安裝依賴項

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
           

3.下載下傳

git clone https://github.com/PointCloudLibrary/pcl.git 或下載下傳.zip

3) 編譯安裝

解壓完成後進入pcl目錄

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

如果make時報錯: make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libproj.so', needed by 'lib/libpcl_io.so.1.9.1.99'。 停止。CMakeFiles/Makefile2:499: recipe for target 'io/CMakeFiles/pcl_io.dir/all' failed

建立軟連接配接, 終端中輸入: sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so

之後重新make

make成功後, 在終端輸入: sudo make install

4測試：

3. PCL測試程式

pcl_test.cpp

//------------------------pcl_test.cpp--------------------

#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>
 
 
int main(int argc, char **argv)
{
    std::cout << "Test PCL !!!" << std::endl;
    
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::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)
        {
            pcl::PointXYZRGB point;
            point.x = 0.5 * cosf (pcl::deg2rad(angle));
            point.y = sinf (pcl::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;
    
    pcl::visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}
           

CMakeLists.txt檔案

# cmake needs this line
cmake_minimum_required(VERSION 2.8)

# Define project name
project(pcl_test_project)

find_package(PCL 1.9 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcl_test pcl_test.cpp)
target_link_libraries (pcl_test ${PCL_LIBRARIES})
           

完成安裝.