ubuntu18.04安装pcl1.9.1所需的cmake3.14.3和vtk8.2.0

先安装Qt5，X11，OpenGL

根据VTK的要求要先安装Qt5,X11,OpenGL

根据 官方文档 ，先更新qt5的依赖，python、Perl、Ruby
再进入 官网 下载Qt5：https://download.qt.io/archive/online_installers/3.2/
或者进入 清华源 下载镜像
我选择了5在线安装的最新版本

sudo chmod a+x 然后把安装包拖到这个a+x后面直接把安装包拖到终端里

根据提示进行安装，安装完毕
2）安装x11

sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev

3）安装OpenGL

sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev

4）安装libglut-dev

sudo apt-get install freeglut3-dev

5）安装metslib点云驱动包

下载地址：https://www.coin-or.org/download/source/metslib/metslib-0.5.3.tgz

tar xzvf metslib-0.5.3.tgzcd metslib-0.5.3./configuremake -j4sudo make install

安装CMAKE

下载地址：https://cmake.org/download/
解压：

tar -zxvf cmake-3.16.0-rc2.tar.gz

1:安装pcl所需依赖

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 libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev 
sudo apt-get install libboost-all-devsudo apt-get install openjdk-8-jdk openjdk-8-jre
sudo apt-get install libvtk7.1-qt
sudo apt-get install libvtk7.1
sudo apt-get install 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
sudo apt-get install openjdk-8-jdk openjdk-8-jre

linux安装eigen3
首先在终端执行命令：

sudo apt-get install libeigen3-dev

由于Eigen文件夹被默认安装到了路径：/usr/include/eigen3/Eigen，用#include<Eigen/Dense>无法通过编译，故需将Eigen文件夹放到/usr/include 下，需执行命令：

sudo cp -r /usr/include/eigen3/Eigen /usr/include

2：opengl报错

解决方案

在CMakeLists.txtS上添加以下代码

set(OpenGL_GL_PREFERENCE LEGACY)

3：Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)在安装PCL时会有这样的错误：Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)

3.1下载pcap包，地址：http://www.tcpdump.org/#latest-release

tar -zxvf libpcap-1.9.0.tar.gzcd libpcap-1.9.0./configuremake -j8sudo make install

configure: error: Neither flex nor lex was found.

sudo apt-get install flex bison

4：下载libvtk7报错

解决办法

sudo apt-get install libvtk7-dev=7.1.1+dfsg1-2

还是报错

sudo apt-get install libvtk7-java=7.1.1+dfsg1-2

还是有的话

sudo apt-get install libvtk7-jni=7.1.1+dfsg1-2

这个报错需要多试几遍才能解决

5：下载VTK-8.2.0版本

地址：https://vtk.org/download/

安装依赖项

sudo apt-get install cmake-curses-gui
sudo apt-get install freeglut3-dev

下载下面适合的包

mkdir build
cd build
machine-gun

6：配置VTK

sudo make
sudo make install

7：PLC1.9.1下载地址：https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.9.1

cd pcl-pcl-1.9.1
mkdir  build
cd  build

如添加选择

8：进行编译

make -j8

报错/usr/local/include/eigen3/Eigen/src/Core/products/Parallelizer.h:162:40：错误：“eigen_assert_exception”不是“Eigen”的成员if (errorCount) EIGEN_THROW_X(Eigen::eigen_assert_exception());

解决方案

在CMakeLists.txt上添加以下代码

include_directories("/usr/include/eigen3")

8.1：点云可视化工具

sudo make -j4 install

下载plc-tools

sudo apt-get install pcl-tools

9：验证

9.1： 在home目录下右击创建一个test_pcl文件夹，再创建一个源文件test_pcl.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>
using namespace std;int main(int argc, char **argv) {//柱型点云测试cout << "Test PCL !" << 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) {//制作柱型点云集for (float angle(0.0); angle <= 360.0; angle += 5.0) {pcl::PointXYZRGB point;point.x = cos (pcl::deg2rad(angle));point.y = sin (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) {//颜色渐变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 ("pcl—test测试");viewer.showCloud(point_cloud_ptr); while (!viewer.wasStopped()){ };return 0;
}

9. 2：在test_pcl文件夹下再创建一个配置文件CMakeLists.txt

cmake_minimum_required(VERSION 2.6)
project(test_pcl)find_package(PCL 1.2 REQUIRED)include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})add_executable(test_pcl test_pcl.cpp)target_link_libraries (test_pcl ${PCL_LIBRARIES})install(TARGETS test_pcl RUNTIME DESTINATION bin)

9.3：编译

在test_pcl文件夹下再建一个build文件夹，在build文件夹下打开终端。

输入 cmake …，然后输入 make进行编译。

mkdir build
cd build
cmake ..
make
./test_pcl