目前网上大部分PCL安装教程针对的是1.8版本. 按照网上的教程安装PCL 1.9后缺少很多东西. 编译PCL demo时典型报错为: fatal error: pcl/visualization/pcl_visualizer.h: No such file or directory. 然后发现在PCL安装目录下("/usr/include/pcl-1.9/")根本没有visualization文件夹. 博主出现这种问题的原因主要是cmake版本太低. 解决过程如下:

1. 安装高版本cmake

1) 首先卸载旧版本cmake

apt-get autoremove cmake

2) 下载高版本cmake, 以13.4为例

wget https://cmake.org/files/v3.13/cmake-3.13.4-Linux-x86_64.tar.gz

3) 解压并进入cmake-3.13.4-Linux-x86_64目录

tar -zxvf cmake-3.13.4-Linux-x86_64.tar.gz

cd cmake-3.13.4-Linux-x86_64/

4) 配置并安装

./configure

make

sudo make install

5) 解决路径问题

export PATH=/usr/local/bin:$PATH

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

cmake

6) 验证

cmake --version

2. 自己编译安装PCL 1.9

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

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) 下载并解压pcl

3) 编译安装

解压完成后进入pcl目录

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

如果make时报错: make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libproj.so', needed by 'lib/libpcl_io.so.1.9.1.99'。 停止。CMakeFiles/Makefile2:499: recipe for target 'io/CMakeFiles/pcl_io.dir/all' failed

建立软连接, 终端中输入: sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so

之后重新make

make成功后, 在终端输入: sudo make install

完成安装.

3. PCL测试程序

//------------------------pcl_test.cpp--------------------

#include

#include

#include

#include

#include

#include

int main(int argc, char **argv)

{

std::cout << "Test PCL !!!" << std::endl;

pcl::PointCloud<:pointxyzrgb>::Ptr point_cloud_ptr (new pcl::PointCloud<: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(r) << 16 |

static_cast(g) << 8 | static_cast(b));

point.rgb = *reinterpret_cast(&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------------------

# cmake needs this line

cmake_minimum_required(VERSION 2.8)

# Define project name

project(pcl_test_project)

find_package(PCL 1.9 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

add_executable(pcl_test pcl_test.cpp)

target_link_libraries (pcl_test ${PCL_LIBRARIES})