PCL學習筆記（一）：Ubuntu20.04安裝pcl

1、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

以上有些安裝包可能有些已經升級了，可以通過命令apt-cache search + 包名尋找最新版本的安裝包，再安裝

2、安裝VTK

在https://vtk.org/download/下載VTK源碼包，下載最新的即可。解壓縮

注意該cmake的路徑

mkdir build
cd build
cmake ../ -DCMAKE_INSTALL_PREFIX=/usr
make -j4
sudo make install

3、下載源碼

https://github.com/PointCloudLibrary/pcl

這里我用gitee下的

解決git clone慢的方法參考：https://blog.csdn.net/xy_zhangchn/article/details/81558144

https://gitee.com/zhonglinlin/pcl

4、添加環境變量

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

     make -j8

5、安裝

     sudo make install

6、關於錯誤

（1）、

/usr/bin/ld: ../lib/libpcl_kdtree.so.1.12.1.99: undefined reference to `LZ4_resetStreamHC'
/usr/bin/ld: ../lib/libpcl_kdtree.so.1.12.1.99: undefined reference to `LZ4_setStreamDecode'
/usr/bin/ld: ../lib/libpcl_kdtree.so.1.12.1.99: undefined reference to `LZ4_decompress_safe'
/usr/bin/ld: ../lib/libpcl_kdtree.so.1.12.1.99: undefined reference to `LZ4_decompress_safe_continue'
/usr/bin/ld: ../lib/libpcl_kdtree.so.1.12.1.99: undefined reference to `LZ4_compress_HC_continue'

解決辦法：
/pcl/build/kdtree/CMakeFiles/pcl_kdtree.dir/下的link.txt里在末尾寫上：-llz4

參考：https://blog.csdn.net/suyunzzz/article/details/96722184