https://pcl.readthedocs.io/projects/tutorials/en/latest/compiling_pcl_posix.html
1下载源码
sudo apt-get install git cd git clone https://github.com/PointCloudLibrary/pcl.git
2安装库
sudo apt-get install libeigen3-dev sudo apt-get install libflann-dev
3安装编译
cd pcl mkdir build cd build cmake .. sudo make- -j4 sudo make install
dongdong@dongdong:~/2Project/pcl/pcl-master/release$ cmake ..
-- Could NOT find ClangFormat (missing: ClangFormat_EXECUTABLE ClangFormat_VERSION) (Required is at least version "10")
-- Using CPU native flags for SSE optimization: -msse4.2 -mfpmath=sse -march=native
-- Found OpenMP, spec date 201511
-- Eigen found (include: /usr/local/include/eigen3, version: 3.3.7)
-- Checking for module 'flann>=1.9.1'
-- Found flann, version 1.9.1
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so (Required is at least version "1.9.1")
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Checking for module 'libusb-1.0'
-- Found libusb-1.0, version 1.0.21
-- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
-- Could NOT find OpenNI (missing: OPENNI_LIBRARIES OPENNI_INCLUDE_DIRS)
-- OpenNI grabber support: not building because OpenNI not found
-- Could NOT find OpenNI2 (missing: OPENNI2_LIBRARIES OPENNI2_INCLUDE_DIRS)
-- OpenNI2 grabber support: not building because OpenNI2 not found
-- Could NOT find Ensenso (missing: ENSENSO_LIBRARIES ENSENSO_INCLUDE_DIRS)
-- IDS-Imaging Ensenso camera support: not building because Ensenso not found
-- Could NOT find davidSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR)
-- David Vision Systems SDK support: not building because davidSDK not found
-- Could NOT find DSSDK (missing: DSSDK_LIBRARIES DSSDK_INCLUDE_DIRS)
-- DepthSense SDK support: not building because DSSDK not found
-- Could NOT find RSSDK (missing: RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS)
-- RealSense SDK support: not building because RSSDK not found
-- Could NOT find RSSDK2
-- RealSense SDK 2.0 (librealsense) support: not building because RSSDK2 not found
-- Checking for module 'metslib'
-- No package 'metslib' found
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11")
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.34")
-- Could NOT find Qhull (missing: QHULL_LIBRARY QHULL_INCLUDE_DIR)
-- Found CUDA Toolkit v10.1
-- The CUDA compiler identification is NVIDIA 10.1.243
-- Check for working CUDA compiler: /usr/local/cuda-10.1/bin/nvcc
-- Check for working CUDA compiler: /usr/local/cuda-10.1/bin/nvcc -- works
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- CMAKE_CUDA_FLAGS: -gencode arch=compute_75,code=compute_75
CMake Warning at cmake/pcl_find_vtk.cmake:25 (find_package):
By not providing "FindVTK.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "VTK", but
CMake did not find one.
Could not find a package configuration file provided by "VTK" with any of
the following names:
VTKConfig.cmake
vtk-config.cmake
Add the installation prefix of "VTK" to CMAKE_PREFIX_PATH or set "VTK_DIR"
to a directory containing one of the above files. If "VTK" provides a
separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
CMakeLists.txt:389 (include)
-- Qt version: 5.9.5
-- Could NOT find Pcap (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)
-- Boost 1.65.0 found.
-- Found Boost components:
serialization;mpi
-- Boost 1.65.0 found.
-- Found Boost components:
filesystem;date_time;iostreams;system
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so
-- Found GLEW: /usr/include
-- DOXYGEN_FOUND
-- HTML_HELP_COMPILER
-- Found CPack generators: DEB
-- PCL build with following flags:
-- -Wabi=11 -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion -msse4.2 -mfpmath=sse -march=native -mavx2 -fopenmp
-- The following subsystems will be built:
-- common
-- kdtree
-- octree
-- search
-- sample_consensus
-- filters
-- 2d
-- geometry
-- io
-- features
-- ml
-- segmentation
-- surface
-- registration
-- keypoints
-- tracking
-- recognition
-- stereo
-- tools
-- The following subsystems will not be built:
-- visualization: VTK was not found.
-- apps: Disabled by default
-- benchmarks: Disabled by default
-- outofcore: Disabled manually.
-- examples: Code examples are disabled by default.
-- people: Disabled manually.
-- simulation: Disabled by default.
-- global_tests: Disabled by default
-- Configuring done
-- Generating done
-- Build files have been written to: /home/dongdong/2Project/pcl/pcl-master/release
