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  • 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 ...

    QT已经安装好,以下必须按顺序安装

    #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
    #只有cmake..会没有QVTK的窗口插件,注意等号之间不能有等号
    cmake -DVTK_QT_VERSION:STRING=5 \
     -DQT_QMAKE_EXECUTABLE:PATH=/opt/Qt5.9.9/5.9.9/gcc_64/bin/qmake \
     -DVTK_Group_Qt:BOOL=ON \
     -DCMAKE_PREFIX_PATH=/opt/Qt5.9.9/5.9.9/gcc_64/lib/cmake \
     -DCMAKE_BUILD_TYPE=RELEASE \
     -DBUILD_SHARED_LIBS:BOOL=ON ..
    make                                  
    sudo make install

     

     

    #安装必要的依赖
    sudo apt 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                                   false
    sudo apt-get install libeigen3-dev
    sudo apt-get install libboost-all-dev
    sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev                      false
    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                         false
    sudo apt-get install libopenni-dev
    sudo apt-get install libopenni2-dev
    sudo apt-get install libqhull-dev

    #下载PCL的源码
    git clone https://github.com/PointCloudLibrary/pcl.git

    #编译PCL的源码
    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 ..
    或 cmake ..

    make

    #编译成功后输入进行安装
    sudo make install

    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
  • ubuntuPCL库编译安装

    千次阅读 2020-01-06 14:35:35
    PCL github仓库中下载最新的release, 解压并进入目录中, 创建build目录并进入, 在该目录中进行make编译安装 我的GPU是a卡, 用不了cuda框架, 在build目录下执行以下命令完成编译安装: cmake .. make -j4 sudo ...

    从PCL github仓库中下载最新的release, 解压并进入目录中, 创建build目录并进入, 在该目录中进行make编译安装

    我的GPU是a卡, 用不了cuda框架, 在build目录下执行以下命令完成编译安装:

    cmake ..
    make -j4
    sudo make install

    第一行命令是很关键的, 在第一行命令运行通过后, 下面两行命令就顺利地跑完了。所以在编译安装中最重要的设置就是对第一行命令的处理,一些库的依赖可以根据这一行命令的报错来安装,我不想把库全列举出来,我这次安装依赖的思路是需要什么安装什么(apt search)。这次我在报错后安装的库有eigen3、libusb1.0、flann、vtk、qhull, 另外有关于OPENGL依赖的报错我就通过命令

    sudo apt-get install libgl1-mesa-dev

    来解决。还有两个依赖的报错:metslib(没找到解决方法)、PCAP(查metslib解决方法时发现很多人都没去解决这个依赖所以我也不解决了)我没去解决。

    最终第一条命令的执行结果说找到了我所安装的依赖,没找到我没安装的依赖(对vtk的情况报出一些warning),告诉我可以安装哪些部件,还有一些部件是不能安装的,这些部件应该是本身设置的问题。

    参考链接:

    详细——Ubuntu下源码安装PCL1.8

    Linux下 PCL源码安装

    附录:

    以下粘贴第一条命令执行结果,以供参考:

    -- The C compiler identification is GNU 9.2.1
    -- The CXX compiler identification is GNU 9.2.1
    -- Check for working C compiler: /usr/bin/cc
    -- Check for working C compiler: /usr/bin/cc -- works
    -- Detecting C compiler ABI info
    -- Detecting C compiler ABI info - done
    -- Detecting C compile features
    -- Detecting C compile features - done
    -- Check for working CXX compiler: /usr/bin/c++
    -- Check for working CXX compiler: /usr/bin/c++ -- works
    -- Detecting CXX compiler ABI info
    -- Detecting CXX compiler ABI info - done
    -- Detecting CXX compile features
    -- Detecting CXX compile features - done
    -- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
    -- Using CPU native flags for SSE optimization: -march=native
    -- Performing Test HAVE_MM_MALLOC
    -- Performing Test HAVE_MM_MALLOC - Success
    -- Performing Test HAVE_POSIX_MEMALIGN
    -- Performing Test HAVE_POSIX_MEMALIGN - Success
    -- Performing Test HAVE_SSE4_2_EXTENSIONS
    -- Performing Test HAVE_SSE4_2_EXTENSIONS - Success
    -- Performing Test HAVE_SSE4_1_EXTENSIONS
    -- Performing Test HAVE_SSE4_1_EXTENSIONS - Success
    -- Performing Test HAVE_SSSE3_EXTENSIONS
    -- Performing Test HAVE_SSSE3_EXTENSIONS - Success
    -- Performing Test HAVE_SSE3_EXTENSIONS
    -- Performing Test HAVE_SSE3_EXTENSIONS - Success
    -- Performing Test HAVE_SSE2_EXTENSIONS
    -- Performing Test HAVE_SSE2_EXTENSIONS - Success
    -- Performing Test HAVE_SSE_EXTENSIONS
    -- Performing Test HAVE_SSE_EXTENSIONS - Success
    -- -- GCC > 4.3 found, enabling -Wabi
    -- Found OpenMP_C: -fopenmp (found version "4.5") 
    -- Found OpenMP_CXX: -fopenmp (found version "4.5") 
    -- Found OpenMP: TRUE (found version "4.5")  
    -- Found OpenMP
    -- Checking for module 'eigen3'
    --   Found eigen3, version 3.3.7
    -- Found Eigen: /usr/include/eigen3  
    -- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
    -- Checking for module 'flann>=1.7.0'
    --   Found flann, version 1.9.1
    -- FLANN found (include: , lib: lz4;flann;flann_cpp)
    -- Found LIBUSB_1: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
    -- Checking for module 'libusb-1.0'
    --   Found libusb-1.0, version 1.0.23
    -- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
    -- Could NOT find OpenNI (missing: OPENNI_LIBRARIES OPENNI_INCLUDE_DIRS) 
    -- OpenNI grabber support: not building because OpenNI not found
    -- Could NOT find OpenNI2 (missing: OPENNI2_LIBRARIES OPENNI2_INCLUDE_DIRS) 
    -- OpenNI2 grabber support: not building because OpenNI2 not found
    -- Could NOT find FZAPI (missing: FZAPI_LIBS FZAPI_INCLUDE_DIRS) 
    -- Fotonic camera support: not building because FZAPI not found
    -- Could NOT find ENSENSO (missing: ENSENSO_LIBRARIES ENSENSO_INCLUDE_DIRS) 
    -- IDS-Imaging Ensenso camera support: not building because Ensenso not found
    -- Could NOT find davidSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
    -- David Vision Systems SDK support: not building because davidSDK not found
    -- Could NOT find DSSDK (missing: DSSDK_LIBRARIES DSSDK_INCLUDE_DIRS) 
    -- DepthSense SDK support: not building because DSSDK not found
    -- Could NOT find RSSDK (missing: RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS) 
    -- RealSense SDK support: not building because RSSDK not found
    -- Checking for module 'metslib'
    --   No package 'metslib' found
    -- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11") 
    -- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37") 
    -- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so  
    -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
    -- The imported target "vtkParseOGLExt" references the file
       "/usr/bin/vtkParseOGLExt-7.1"
    but this file does not exist.  Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
       "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
    but not all the files it references.
    
    -- The imported target "vtkRenderingPythonTkWidgets" references the file
       "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
    but this file does not exist.  Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
       "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
    but not all the files it references.
    
    -- The imported target "vtk" references the file
       "/usr/bin/vtk"
    but this file does not exist.  Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
       "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
    but not all the files it references.
    
    -- The imported target "pvtk" references the file
       "/usr/bin/pvtk"
    but this file does not exist.  Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
       "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
    but not all the files it references.
    
    -- VTK_MAJOR_VERSION 7, rendering backend: OpenGL2
    -- VTK found (include: /usr/include/vtk-7.1;/usr/include/freetype2;/usr/include;/usr/include/x86_64-linux-gnu;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include;/usr/include/python3.7m;/usr/include/hdf5/openmpi;/usr/include/jsoncpp;/usr/include/libxml2;/usr/include/tcl, lib: vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkDICOMParser;vtkDomainsChemistry;vtkIOLegacy;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkDomainsChemistryOpenGL2;vtkRenderingOpenGL2;vtkIOImage;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkFiltersAMR;vtkIOXML;vtkParallelCore;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelDIY2;vtkParallelMPI;vtkFiltersParallelFlowPaths;vtkFiltersParallelGeometry;vtkFiltersParallelImaging;vtkFiltersParallelMPI;vtkFiltersParallelStatistics;vtkFiltersPoints;vtkFiltersProgrammable;vtkFiltersPython;/usr/lib/x86_64-linux-gnu/libpython3.7m.so;vtkWrappingPythonCore;vtkWrappingTools;vtkFiltersReebGraph;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGUISupportQt;vtkInteractionStyle;vtkGUISupportQtSQL;vtkIOSQL;sqlite3;vtkGeovisCore;vtkInfovisLayout;vtkImagingHybrid;vtkInteractionWidgets;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkViewsCore;/usr/lib/x86_64-linux-gnu/libproj.so;vtkIOAMR;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi.so;/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi_cxx.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5_hl.so;vtkIOEnSight;vtkIOExodus;vtkexoIIc;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;vtkIOExport;vtkRenderingGL2PSOpenGL2;/usr/lib/x86_64-linux-gnu/libgl2ps.so;vtkIOFFMPEG;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkIOGDAL;vtkIOGeoJSON;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOGeometry;vtkIOImport;vtkIOInfovis;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkIOLSDyna;vtkIOMINC;vtkIOMPIImage;vtkIOMPIParallel;vtkIOParallel;vtkIONetCDF;vtkIOMySQL;vtkIOODBC;vtkIOPLY;vtkIOParallelExodus;vtkIOParallelLSDyna;vtkIOParallelNetCDF;vtkIOParallelXML;vtkIOPostgreSQL;vtkIOTecplotTable;vtkIOVPIC;VPIC;vtkIOVideo;vtkIOXdmf2;vtkxdmf2;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInfovisBoostGraphAlgorithms;vtkInteractionImage;vtkLocalExample;vtkParallelMPI4Py;vtkPythonInterpreter;vtkRenderingContextOpenGL2;vtkRenderingExternal;vtkRenderingFreeTypeFontConfig;vtkRenderingImage;vtkRenderingLICOpenGL2;vtkRenderingLOD;vtkRenderingLabel;vtkRenderingMatplotlib;vtkRenderingParallel;vtkRenderingParallelLIC;vtkRenderingSceneGraph;vtkRenderingVolumeAMR;vtkRenderingVolumeOpenGL2;vtkTestingGenericBridge;vtkTestingIOSQL;vtkTestingRendering;vtkViewsContext2D;vtkViewsGeovis;vtkViewsInfovis;vtkWrappingJava
    -- Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS) 
    CMake Warning (dev) at /usr/share/cmake-3.13/Modules/FindOpenGL.cmake:270 (message):
      Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
      available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
      cmake_policy command to set the policy and suppress this warning.
    
      FindOpenGL found both a legacy GL library:
    
        OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so
    
      and GLVND libraries for OpenGL and GLX:
    
        OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
        OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so
    
      OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
      compatibility with CMake 3.10 and below the legacy GL library will be used.
    Call Stack (most recent call first):
      cmake/pcl_find_gl.cmake:6 (find_package)
      CMakeLists.txt:416 (include)
    This warning is for project developers.  Use -Wno-dev to suppress it.
    
    -- Looking for pthread.h
    -- Looking for pthread.h - found
    -- Looking for pthread_create
    -- Looking for pthread_create - found
    -- Found Threads: TRUE  
    -- Boost version: 1.67.0
    -- Found the following Boost libraries:
    --   filesystem
    --   thread
    --   date_time
    --   iostreams
    --   system
    --   chrono
    --   atomic
    --   regex
    -- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
    -- Found Glew: /usr/lib/x86_64-linux-gnu/libGLEW.so
    -- DOXYGEN_FOUND 
    -- HTML_HELP_COMPILER 
    -- Found CPack generators: DEB
    -- The following subsystems will be built:
    --   common
    --   kdtree
    --   octree
    --   search
    --   sample_consensus
    --   filters
    --   2d
    --   geometry
    --   io
    --   features
    --   ml
    --   segmentation
    --   visualization
    --   surface
    --   registration
    --   keypoints
    --   tracking
    --   recognition
    --   stereo
    --   outofcore
    --   people
    --   tools
    -- The following subsystems will not be built:
    --   apps: No reason
    --   examples: Code examples are disabled by default.
    --   simulation: Disabled by default.
    --   global_tests: No reason
    -- Configuring done
    -- Generating done
    -- Build files have been written to: /home/tellw/pcl-pcl-1.9.1/build
    

     

    展开全文
  • Ubuntu16.04 PCL库安装

    2020-02-20 20:58:38
    PCL库安装: 以下是十四讲里的方法: sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl sudo apt-get update sudo apt-get install libpcl-all 我执行第一行的时候就没成功,然后就去网上找了...

    PCL库安装:

    最后更新:
    在第n次装pcl之后,发现一个超简单的方法
    PCL的安装,对于ubuntu16.04来说,用apt-get 足够。

    sudo apt-get install libpcl-dev
    sudo apt-get install pcl-tools
    如果编译程序的时候遇到这个问题

    warning: ISO C++11 requires whitespace after the macro name
    make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libproj.so', needed by 'pointcloud_mapping'.  Stop.
    CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/pointcloud_mapping.dir/all' failed
    

    这是/usr/lib/x86_64-linux-gnu/文件夹内没有这个libproj.so 库,先在该文件夹内搜索是否有同名不同版本的库,如果有 ,可以使用ln -s在该文件夹内部对存在的库链接到一个新建的名为libproj.so 库内,这样就可以使用了。
    命令为:
    sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so

    如果文件夹内部没有此库,需要终端敲sudo apt-get install libproj-dev ,安装即可

    还可能会出现另一个问题,下边写了,这就不赘述了


    以下是之前的方法

    以下是十四讲里的方法:
    sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
    sudo apt-get update
    sudo apt-get install libpcl-all
    我执行第一行的时候就没成功,然后就去网上找了一下安装方法。

    先安装各种依赖

    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
    

    其他依赖

    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 libopenni-dev   
    sudo apt-get install libopenni2-dev 
    

    原网址中还有第二步,安装vtk库

    sudo apt-get install libpcl-all
    

    然后测试了十四讲里的代码

    mkdir build
    cd build
    cmake ..
    make
    

    此时出现了以下错误:
    /usr/bin/ld: cannot find -lvtkproj4
    collect2: error: ld returned 1 exit status
    CMakeFiles/joinMap.dir/build.make:350: recipe for target ‘joinMap’ failed
    make[2]: [joinMap] Error 1
    解决办法:
    在CMakeList.txt文件里target_link_libraries前面加入:
    list(REMOVE_ITEM PCL_LIBRARIES “vtkproj4”)

    make成功后:

    cd ..
    ./build/joinMap
    

    这是因为要回到含pose.txt路径上运行,运行完后会出现 map.pcd
    在这里插入图片描述

    pcl_viewer map.pcd
    

    结果:在这里插入图片描述
    在这里插入图片描述

    展开全文
  • 亲测 有效 Ubuntu16.04安装PCL库

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    2019-01-06 18:31:15
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