针对ubuntu16.04的pcl安装问题的解决

Ubuntu16.04安装pcl及常见问题

安装pcl

安装依赖
将下面的代码做成sh文件

    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  

比如
1 、
sudo gedit install.sh
将上面的代码复制进去，保存。
2、
执行 sudo sh install.sh
3、
询问时通通 y 回车

安装库
sudo apt-get install libpcl-dev
sudo apt-get install pcl-tools

joinMap程序错误解决

[ 50%] Building CXX object CMakeFiles/joinMap.dir/joinMap.cpp.o
[100%] Linking CXX executable joinMap
/usr/bin/ld: 找不到 -lvtkproj4
collect2: error: ld returned 1 exit status
CMakeFiles/joinMap.dir/build.make:352: recipe for target ‘joinMap’ failed
make[2]: *** [joinMap] Error 1
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/joinMap.dir/all’ failed
make[1]: *** [CMakeFiles/joinMap.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2

缺少 -lvtkproj4

所以在终端执行

sudo apt-get install lvtkproj4

发现

最后
参考 大神链接（感谢大神）
https://blog.youkuaiyun.com/danmeng8068/article/details/77341532

解决方法，需要在joinMap目录下的CMakelists.txt中加一条指令修复，即在add_executable语句前面加上
list(REMOVE_ITEM PCL_LIBRARIES “vtkproj4”)

部分内容如下

list(REMOVE_ITEM PCL_LIBRARIES “vtkproj4”)

add_executable( joinMap joinMap.cpp )
target_link_libraries( joinMap ${OpenCV_LIBS} ${PCL_LIBRARIES} )

再次编译问题解决