Ubuntu18.04 Install PCL

1、官方预编译版本

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl  
sudo apt-get update  
sudo apt-get install libpcl-dev

• 若成功，则不用往下操作
• 有可能不成功，但会有一些依赖项安装上，参考2可继续安装自己编译版本

2、安装依赖项

• 将以下内容保存为install_pcl_dependences.sh ，使用在ubuntu 命令行终端输入sudo sh install_pcl_dependences.sh 即可进行安装，在下载安装依赖库过程中会提示是否安装，都输入y

 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

3、pcl源码编译安装

• gitbub download pcl1.8.1.zip
• 编译

cd pcl 
mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make -j8  

• install

# in .../pcl/release
sudo make install

4、安装可视化库依赖OpenNI、OpenNI2

sudo apt-get install libopenni-dev 
sudo apt-get install libopenni2-dev

5、重启 sudo reboot

6、Test

# 点云文件夹打开Terminal
pcl_viewer point_cloud_PCD_23685214_1080_06-04-2021-16-34-45.pcd 

# 稍等会 有点云显示则安装成功

pcl_viewer操作

• 显示一个点云

pcl_viewer cloud_cluster_0.pcd

• 多个点云在一起显示

pcl_viewer -multiview 1 cloud_cluster_0.pcd cloud_cluster_1.pcd cloud_cluster_2.pcd cloud_cluster_3.pcd

• 操作指南

pcl_viewer cloud_cluster_0.pcd -h

参考

1、ubuntu18.04安装PCL

2、Ubuntu18.04下安装PCL1.9.1