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  • Mac安装PCL库

    2020-10-06 11:41:01
    描述 Mac系统下安装PCL库 安装命令 brew install pcl

    描述

    Mac系统下安装PCL库

    安装命令

    brew install pcl
    
    展开全文
  • ubuntu16.04 安装PCL库

    千次阅读 2017-10-17 20:48:46
    ubuntu16.04 安装PCL库

    ubuntu16.04 安装PCL库

    1.安装依赖项

     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         #1
     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
    

    注意:1处的命令我没有执行,它在安装的时候会卸掉一些东西,如下图所示,基本都是ros的东西,所以自己1处的命令没执行

    这里写图片描述

    2处的 qt-sdk 是安装qt4.8的一些组建,由于我之前自己装了5.6.1,所以2处的命令只是安装了后面两项

    写这片博客的主要目的是想记录这两句话自己是怎么执行的,以及整个的教程。

    2. Build Point Cloud Library

    • git clone https://github.com/PointCloudLibrary/pcl.git
    • 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 ..
    • sudo make -j16
    • sudo make install

    3.测试

    HOME目录下 software_installed->pcl->tutorials->content->sources下有PCL例程,在cloud_viewer文件夹下有cpp和cmake,cmake编译一下就可以生成可执行文件,直接./测试就行

    4.卸载掉ros的东西后的解决方法

    如果自己执行了1处的命令,会卸掉一些常用的ros 的包导致在编译的时候一般都会出错,自己试过,用catkin_make 基本编译不了东西,因为好多包我都用了cv_bridge导致编译不了,解决方法,重新安装ros:

    sudo apt-get update
    sudo apt-get install ros-kinetic-desktop-full
    这两句话只是安装了之前卸掉的包,并没有完全安装ros,如下图所示,很快
    这里写图片描述

    参考链接:https://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/

    展开全文
  • Linux安装PCL库

    2021-07-02 13:26:32
    记录安装PCL库(point cloud library),参考PCL官网和3DMatch项目。 # Notes for PCL installation, # 1. dependencies # sudo apt-get update # sudo apt-get install g++ # skip if already has # sudo apt-get ...
    1. 记录安装PCL库(point cloud library),参考PCL官网3DSmoothNet项目这里
    2. 先挑选了官网列的几项必装项安装,也能编译安装上PCL,但是基于Pybind11的3DSmoothNet(依赖于PCL)编译后的.so文件无法导入python,最后检查,猜测还是PCL安装依赖的问题,遂卸载PCL重装。以防万一,将上述链接中提到的依赖取并集,尽量都装上。
    # Notes for PCL installation, 
    # 1. subset dependencies
    # sudo apt-get update
    # sudo apt-get install g++                  # skip if already has
    # sudo apt-get install cmake                # skip is already has
    # sudo apt-get install libboost-all-dev     # Boost is strictly REQUIRED
    # sudo apt-get install libeigen3-dev        # Eigen is strictly REQUIRED
    # sudo apt-get install libflann-dev         # FLANN is strictly REQUIRED
    # sudo apt-get install libvtk6-dev          # VTK is for pcl_visualization
    # sudo apt-get install 'libqhull*'          # Qhull is for cl_surface
    # sudo apt-get install libopenni2-dev       # OpenNI is for pcl_io
    
    # 2. all dependencies
    sudo apt-get update  
    sudo apt-get install build-essential linux-libc-dev libxmu-dev libxi-dev
    sudo apt-get install cmake cmake-gui
    sudo apt-get install doxygen
    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 libvtk7.1-qt
    sudo apt-get install libvtk7.1 
    sudo apt-get install libvtk7-jni libvtk7-java libvtk7-dev libvtk7-qt-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 graphviz
    sudo apt-get install openjdk-8-jdk openjdk-8-jre	# 无法安装qt-sdk openjdk-9-jdk openjdk-9-jre
    sudo apt-get install libopenni-dev libopenni2-dev
    sudo apt-get install phonon-backend-gstreamer
    sudo apt-get install phonon-backend-vlc
    
    
    # 2. install PCL
    #git clone --branch pcl-1.8.1 https://github.com/PointCloudLibrary/pcl pcl-trunk
    # ln -s pcl-trunk pcl
    git clone https://github.com/PointCloudLibrary/pcl.git
    cd pcl
    mkdir build
    cd build
    cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
    make -j 8
    sudo make install
    
    # 3. uninstall PCL
    sudo rm -r /usr/local/include/pcl-1.8 /usr/local/share/pcl-1.8 /usr/local/bin/pcl* /usr/local/lib/libpcl*
    
    
    1. 编译时报了若干错误:

      1. Could NOT find ClangFormat…
      2. Could NOT find Ensenso…
      3. Could NOT find davidSDK…
      4. Could NOT find DSSDK…
      5. Could NOT find RSSDK…
      6. Could NOT find RSSDK2…
      7. No package ‘metslib’ found…
      8. Could NOT find Pcap…
    2. 部分问题的解决方案:

      1. 安装ensenso [ref]
      sudo dpkg -i ensenso-sdk-2.2.147-x64.deb   		# https://www.ensenso.com/support/sdk-download/
      sudo dpkg -i codemeter_6.80.3312.500_amd64.deb  # https://www.wibu.com/support/user/downloads-user-software.html
      
      1. 安装metslib
      sudo sh ./configure
      sudo make
      sudo make install
      
    3. 验证安装

      cd /your_path_to_downloaded_pcl_repo/pcl/test
      pcl_viewer car6.pcd
      
    4. 编译用到PCL的文件

      1. 碰到形如下面的错误,检查是否有头文件没有被include
        error: ‘PointXYZ’ is not a member of ‘pcl’...
        
      2. 关于PCL的错误
        The imported target "vtkRenderingPythonTkWidgets" references the file
           "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist....
        
        The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist.
        
        手动建立软链接(创建后可以检查一下,防止出现“标红”的快捷方式)
        sudo ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.x86_64-linux-gnu.so /usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so
        sudo ln -s /usr/bin/vtk7 /usr/bin/vtk
        
      3. 还有下面的WARNING,暂不予处理 — ref
        ** WARNING ** io features related to pcap will be disabled
        ** WARNING ** io features related to png will be disabled
        
    展开全文
  • 安装PCL库

    千次阅读 2018-02-12 11:34:19
    Windows版 直接下载all-in-one安装即可 ...add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl apt-get update apt-get install libpcl-all 2. 源码安装 git clone https://g...

    Windows版

    直接下载all-in-one安装即可

    Ubuntu版

    1. 通过ppa安装

    add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl  
    apt-get update  
    apt-get install libpcl-all  

    2. 源码安装

    git clone https://github.com/PointCloudLibrary/pcl.git  
    
    apt-get install cmake g++   libboost1.58-all-dev libeigen3-dev libflann-dev python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libpng12-dev libgtest-dev libxmu-dev libxi-dev libpcap-dev libqhull-dev libvtk5-qt4-dev python-vtk libvtk-java 
    
    mkdir build
    cd build
    cmake -D CMAKE_BUILD_TYPE=None  -D BUILD_GPU=ON  -D BUILD_apps=ON  -D BUILD_examples=ON -DCMAKE_INSTALL_PREFIX=/home/opt/flann/1.8.4 ..
    
    make -j8 
    make install  

    源码安装(CentOS 等系列)

    各个库版本比较多,建议建立一个~/opt目录来安装库,每个库下面建立不同的版本号来进行管理。如下所示

    .
    ├── boost
    │   └── 1.63.0
    ├── cmake
    │   └── 3.11.0
    ├── eigen
    │   └── 3.3.4
    ├── flann
    │   └── 1.8.4
    ├── jsoncpp
    │   └── 0.5.0
    ├── pcl
    │   ├── 1.8.1
    │   └── 1.8.2
    └── scons
        └── 2.5.1

    1. 安装eigen

    eigen是header-only lib,只需要下载即可使用
    地址:Eigen

    2. 安装boost

    cd ~/packages
    outnet wget https://sourceforge.net/projects/boost/files/boost/1.63.0/boost_1_63_0.tar.gz --no-check-certificate
    tar -xzvf boost_1_63_0.tar.gz
    cd boost_1_63_0
    # 编译安装
    ./bootstrap.sh --prefix=${HOME}/opt/boost/1.63.0
    ./b2 install

    3. 安装flann

    git clone https://github.com/mariusmuja/flann.git
    cd flann
    mkdir build
    cd build
    mkdir -p /home/frank/opt/flann/1.8.4
    cmake -DCMAKE_INSTALL_PREFIX=/home/opt/flann/1.8.4 ..
    make -j8
    make install

    4. 安装pcl

    安装好flann和eigen可以安装pcl,下载pcl源码 官网

    mkdir build
    cmake -DCMAKE_INSTALL_PREFIX=/home/opt/pcl/1.8.2 ..

    应该会找不到一些依赖库,可以调整pcl的编译选项

    ccmake ..

    选好eigen和flann的路径,同时关闭不需要用到的PCL的开关,如果需要其他库,例如VTK,可以自行安装。

    make -j8

    如果报boost相关的错,那么说明程序没有找到新装的boost,依然在使用系统自带的boost。
    这里直接手动修改boost的相关配置,在文件cmake/pcl_find_boost.cmake中进行修改
    将其中部分修改如下,直接写死include和lib的路径

    if(Boost_FOUND)
      set(BOOST_FOUND TRUE)
      # Obtain diagnostic information about Boost's automatic linking outputted 
      # during compilation time.
    
      SET(Boost_LIB_DIAGNOSTIC_DEFINITIONS,".")
      SET(Boost_INCLUDE_DIRS "/home/vis/opt/boost/1.63.0/include/")
      SET(Boost_LIBRARY_DIRS "/home/vis/opt/boost/1.63.0/lib/")
    
      add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
      include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
      link_directories(${Boost_LIBRARY_DIRS})
    endif(Boost_FOUND)

    然后重新make -j8 && make install即可

    展开全文
  • linux安装PCL库

    千次阅读 2019-06-19 11:52:03
    一、安装依赖必须:Boost、Eigen、FLANN、vtk 可选择:Qhull、OpenNI、CUDA 以下是所有依赖包的安装,确定就全部安装一遍。 sudo apt-get update sudo apt-get install git build-essential linux-libc-dev ...
  • python安装pcl库

    千次阅读 2018-12-04 17:04:54
    pcl 参考:https://blog.csdn.net/we1583004we/article/details/79651299 python-pcl 参考:https://blog.csdn.net/Rinono/article/details/80070134 git clone https://github.com/strawlab/python-pcl.git ...
  • ubuntu16.04安装PCL库

    2019-11-29 12:41:34
    前言 ubuntu下安装各种的方式其实都一样。下载源码,然后cmake编译安装即可,...废话说,正式开始安装教程! PCL的编译安装 首先,要先安装一大堆依赖: sudo apt-get update sudo apt-get install git buil...
  • 亲测 有效 Ubuntu16.04安装PCL库

    万次阅读 热门讨论 2018-10-08 21:21:52
    亲测 Ubuntu16.04安装PCL库 1.安装各种依赖包 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-...
  • VS2017安装PCL库,配置pcl-python
  • 关于用powershell“无痛”安装pcl 起初用vs2015配置pcl库也还行,突然有一天发现代码怎么都跑不通,在别人电脑上就可以,觉得可能是库的问题,就毅然决然下载了vs2017,并且用power shell,一键安装库文件。 虽说...
  • ubuntu安装PCL库步骤

    2021-04-13 14:46:52
    必须按顺序安装 #源码安装vtk wget http://www.vtk.org/files/release/7.1/VTK-7.1.0.tar.gz tar -xf VTK-7.1.0.tar.gz cd VTK-7.1.0 && mkdir build && cd build cmake .. make sudo make ...
  • Ubuntu16.04安装pcl库

    2019-07-21 23:16:00
    sudo apt-get install libpcl-dev sudo apt-get install pcl-tools

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