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ubuntu配置PCL

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记录被坑惨的一天

安装各种依赖包

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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 //这个需要自己下载正确版本安装
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-qt-dev（按照错误提示一步一步安装所需要的东西）
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

sudo apt-get install libopencv-dev

下载PCL

git clone https://github.com/PointCloudLibrary/pcl.git
  • 速度受限制的话可以clone到码云再下载
  • 下载后的文件名称 一定要是pcl，不能带有其他字符

编译

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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  //在build目录里，make -j4或-j8可加速
sudo make install

第五步make编译的时候可能会报错：

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/usr/lib/x86_64-linux-gnu/libSM.so: undefined reference to `uuid_generate@UUID_1.0'
/usr/lib/x86_64-linux-gnu/libSM.so: undefined reference to `uuid_unparse_lower@UUID_1.0'
collect2: error: ld returned 1 exit status
outofcore/tools/CMakeFiles/pcl_outofcore_viewer.dir/build.make:367: recipe for target 'bin/pcl_outofcore_viewer' failed
make[2]: *** [bin/pcl_outofcore_viewer] Error 1
CMakeFiles/Makefile2:1853: recipe for target 'outofcore/tools/CMakeFiles/pcl_outofcore_viewer.dir/all' failed
make[1]: *** [outofcore/tools/CMakeFiles/pcl_outofcore_viewer.dir/all] Error 2
Makefile:151: recipe for target 'all' failed
make: *** [all] Error 2

解决办法：

  1. 清空build里的文件 rm -r build
  2. 输入获取当前环境变量的命令
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echo $PATH 
/opt/ros/melodic/bin:/usr/local/anaconda3/bin:/usr/local/anaconda3/condabin:
/home/qm/.local/bin:/usr/local/anconda3/bin:/usr/local/sbin:/usr/local/bin:
/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
  1. 把路径中带有conda的内容删掉并复制剩余内容
  2. 终端执行PATH=NEW_PATH，其中NEW_PATH就是刚才复制的新路径（临时更改环境变量）
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PATH=/usr/local/sbin:/usr/local/bin:
/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
  1. 再次执行echo $PATH发现带有conda的目录被移除
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    cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
    make -j4/8 
    sudo make install
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    sudo apt install pcl-tools

安装完成并验证

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cd到pcl/test目录中
pcl_viewer car6.pcd