Ubuntu16 04安裝PCL並測試

第一步、安裝依賴

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

git clone

cd pcl mkdir release cd release cmake -dcmake_build_type=none -dcmake_install_prefix=/usr \ -dcmake_install_prefix=/usr .. make sudo make install

第四步（可選 and 建議）：如果需要pclvisualizer 安裝openni、openni2

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

接下來是測試部分：

在home下建立資料夾 pcl_test

cd pcl_test vim pcl_test.cpp

pcl_test.cpp如下：

#include
#include
#include
#include
#include
#include  
intmain
(int argc,
char
**ar**)
if(z <
0.0)
else
}    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()
);return0;
}

cmakelists.txt檔案如下：

cmake_minimum_required(version 2.6)
project(pcl_test)
find_package(pcl 1.2 required)
include_directories($)
link_directories($)
add_definitions($)
add_executable(pcl_test pcl_test.cpp)
target_link_libraries (pcl_test $) 
install(targets pcl_test runtime destination bin)

然後在pcl_test資料夾下新建乙個build資料夾：

mkdir build && cd build cmake .. ##cmake ..代表對上級目錄內的cmakelists進行生成編譯檔案 make ##根據生成的編譯檔案進行編譯 ./pcl_test ##執行生成的可執行檔案

下面是我運的結果，如果是一團變紅色，旋轉一下滑鼠就好啦。

Ubuntu16 04安裝PCL並測試

ubuntu16 04安裝PCL總結

Ubuntu16 04編譯安裝PCL 測試執行

Ubuntu16 04下安裝並測試pcl

Ubuntu16 04安裝PCL並測試

ubuntu16 04安裝PCL總結

Ubuntu16 04編譯安裝PCL 測試執行

Ubuntu16 04下安裝並測試pcl

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