Ubuntu16.04編譯安裝PCL&測試運作

環境：ubuntu16.04 

pcl版本：1.8.1 

一.安裝依賴庫

    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  

二.下載下傳解壓PCL 

我是直接從https://github.com/PointCloudLibrary/pcl/releases下載下傳的pcl-pcl-1.8.1.tar.gz。 

解壓後進入目錄，用Cmake編譯

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   或者  make -j4 (線程數根據情況選擇)

sudo make install 

過程比較久，慢慢等 

三.測試點雲顯示 

測試代碼pcl_test.cpp：

#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_minimum_required(VERSION 2.6)  

    project(pcl_test)  

    find_package(PCL 1.2 REQUIRED)  

    include_directories(${PCL_INCLUDE_DIRS})  

    link_directories(${PCL_LIBRARY_DIRS})  

    add_definitions(${PCL_DEFINITIONS})  

    list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")  

    add_executable(pcl_test pcl_test.cpp)  

    target_link_libraries (pcl_test ${PCL_LIBRARIES})  

    install(TARGETS pcl_test RUNTIME DESTINATION bin) 

将兩個檔案放在同一目錄下，編譯

cmake .  

make  

./pcl_test 

編譯成功後，運作能夠看到一個3D模型

四.遇到的問題

make的時候遇到：No rule to make target ‘/usr/lib/x86_64-linux-gnu/libproj.so 

解決方法： 

sudo apt-get install libproj-dev 

sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so 

make時遇到：cannot find -lvtkproj4 

解決辦法： 

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