ubuntu安装pcl（附cmake编译安装库）

参考链接：https://blog.youkuaiyun.com/lilywri823/article/details/86583269

1.先安装各种依赖

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

其他依赖

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 libopenni-dev   
sudo apt-get install libopenni2-dev

2.源码安装vtk库(很重要！！！apt安装的方式会出现.so文件缺失的情况！)

2.1首先安装依赖项X11，OpenGL，CMake-gui

x11

sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev

OpenGL

sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev

cmake

sudo apt-get install cmake cmake-gui 

2.2下载vtk源码

选择了VTK-7.1.1.tar.gz，下载完成后解压缩到你的文件安装目录。在文件目录下打开cmd窗口，输入cmake-gui打开cmake图形界面：

配置“where is the source code”的路径为vtk-7.1.1所在的目录

在vtk-7.1.1目录新建build文件夹，配置“where to build the binaries”为build文件夹

点击Configure，配置完成后提示configure done

选择“VTK_GROUP_QT”再次点击configure

配置完成后点击generate按钮，会在build文件夹下生成工程文件

2.3　切换文件目录到vtk-7.1.1文件夹下的build文件夹，然后打开cmd窗口，输入：

make
sudo make install

完成vtk库的安装.

3.安装pcl

去pcl官方github下载需要的pcl版本放到主目录下

git clone https://github.com/PointCloudLibrary/pcl.git 

在文件目录下打开cmd窗口，输入cmake-gui打开cmake图形界面：

配置“where is the source code”的路径为pcl所在的目录

在pcl目录新建build文件夹，配置“where to build the binaries”为build文件夹

点击Configure，配置完成后提示configure done

勾选需要安装的可选项，再次点击configure

配置完成后点击generate按钮，会在build文件夹下生成工程文件
接着

make
sudo make install

至此安装完毕。

ps：屏蔽anaconda路径

In detail:

1. delete build directory and create it again
2. echo $PATHand look for anaconda lib directory
3. Copy the PATH output from previous step and remove reference to anaconda folder
4. execute PATH=[MODIFIED_PATH]where [MODIFIED_PATH]is the result from previous step
5. Execute echo $PATHagain to see that anaconda directory has been removed
6. build the project again in the same terminal window

Now the process uses system libraries, not the anaconda ones and compilation succeeds.