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sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl

sudo apt-get update

会出错：

cd /etc/apt/sources.list.dsudo mv v-launchpad-jochen-sprickerhof-de-ubuntu-pcl-xenial.list v-launchpad-jochen-sprickerhof-de-ubuntu-pcl-xenial.list.baksudo apt-get update如果说被锁住了，那就重启下再sudo apt-get update

sudo apt-get install libpcl-dev

sudo apt-get install pcl-tools

-- The imported target "vtkRenderingPythonTkWidgets" references the file

   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"

 

sudo apt-get install libproj-dev

CMakeLists.txt

即在add_executable语句前面加上list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

或者：sudo ln -s /usr/lib/libvtkproj4.so.5.10 /usr/lib/libvtkproj4.so

如果看教程不小心使用了：

sudo apt-get install python-vtk

建议安装：  mayavi2 vtk-doc vtk-examples下列软件包将被【卸载】：  libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6下列【新】软件包将被安装：  python-vtk

那么会报错：

CMake Error at CMakeLists.txt:11 (find_package):  By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has  asked CMake to find a package configuration file provided by "PCL", but  CMake did not find one.  Could not find a package configuration file provided by "PCL" (requested  version 1.7) with any of the following names:    PCLConfig.cmake    pcl-config.cmake  Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"  to a directory containing one of the above files.  If "PCL" provides a  separate development package or SDK, be sure it has been installed.

文件在：

/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfigVersion.cmake

/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake

就接着使用：

sudo apt-get install libpcl-dev

sudo apt-get install pcl-tools

boyun@boyun:~/code/deepglint/demo1/build$ sudo apt-get install libpcl-dev[sudo] boyun 的密码： 正在读取软件包列表... 完成正在分析软件包的依赖关系树       正在读取状态信息... 完成       下列软件包是自动安装的并且现在不需要了：  libdbusmenu-gtk4 libmircommon5 libvtk5.10 linux-signed-image-generic tcl-vtk ubuntu-core-launcher使用'sudo apt autoremove'来卸载它(它们)。将会同时安装下列软件：  libvtk6-dev libvtk6-qt-dev python-vtk6建议安装：  libpcl-doc vtk6-doc vtk6-examples mayavi2下列软件包将被【卸载】：  python-vtk下列【新】软件包将被安装：  libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6升级了 0 个软件包，新安装了 4 个软件包，要卸载 1 个软件包，有 240 个软件包未被升级。

CMakeLists.txt 

C++11

set(CMAKE_CXX_STANDARD 11)

# cmake needs this linecmake_minimum_required(VERSION 2.8)add_definitions(-std=c++11)# Define project nameproject(pcl_test_project)#set(PCL_DIR "/usr/share/pcl-1.7/")find_package(PCL REQUIRED)#find_package(PCL 1.7 REQUIRED)include_directories(${PCL_INCLUDE_DIRS})link_directories(${PCL_LIBRARY_DIRS})add_definitions(${PCL_DEFINITIONS})list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")add_executable(pcl_test pcl_test.cpp)target_link_libraries (pcl_test ${PCL_LIBRARIES})

pcl_test.cpp

#include 
   
    #include 
    
     #include 
     
      #include 
      
       #include 
       
        #include 
        
          int main(int argc, char **argv) { std::cout << "Test PCL !!!" << std::endl; pcl::PointCloud
         
          ::Ptr point_cloud_ptr (new pcl::PointCloud
          
           ); uint8_t r(255), g(15), b(15); for (float z(-1.0); z <= 1.0; z += 0.05) { for (float angle(0.0); angle <= 360.0; angle += 5.0) { pcl::PointXYZRGB point; point.x = 0.5 * cosf (pcl::deg2rad(angle)); point.y = sinf (pcl::deg2rad(angle)); point.z = z; uint32_t rgb = (static_cast
           
            (r) << 16 | static_cast
            
             (g) << 8 | static_cast
             
              (b)); point.rgb = *reinterpret_cast
              
               (&rgb); point_cloud_ptr->points.push_back (point); } if (z < 0.0) { r -= 12; g += 12; } else { g -= 12; b += 12; } } 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()){ }; return 0;}
              
             
            
           
          
         
        
       
      
     
    
   

#include 
   
    #include 
    
     #include 
     
      int  main (int argc, char** argv){  pcl::PointCloud
      
        cloud;  // Fill in the cloud data  cloud.width    = 5;  cloud.height   = 1;  cloud.is_dense = false;  cloud.points.resize (cloud.width * cloud.height);  for (std::size_t i = 0; i < cloud.points.size (); ++i)  {    cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);    cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);    cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);  }  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);  std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;  for (std::size_t i = 0; i < cloud.points.size (); ++i)    std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;  return (0);}
      
     
    
   

分割线上面是最新的

关于环境等：

PCL 1. 51

Ubuntu常规安装：

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pclsudo apt-get update#sudo apt-get install libpcl-allsudo apt-get install libpcl-devsudo apt-get install pcl-tools

源码安装：

 

参考

需要其他库：

Boost  Eigen FLANN VTK

Qhull OpenNI CUDA

设置查找路径：

set(BOOST_ROOT "/usr/local/boost")

sudo apt-get install pcl-tools都安装了哪些东西

sudo apt-get updatesudo apt-get install git build-essential linux-libc-devsudo apt-get install cmake cmake-gui sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-devsudo apt-get install mpi-default-dev openmpi-bin openmpi-common  sudo apt-get install libflann1.8 libflann-devsudo apt-get install libeigen3-devsudo apt-get install libboost-all-devsudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-devsudo apt-get install libqhull* libgtest-devsudo apt-get install freeglut3-dev pkg-configsudo apt-get install libxmu-dev libxi-dev sudo apt-get install mono-completesudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

Could NOT find GTest (missing: GTEST_LIBRARY GTEST_MAIN_LIBRARY)

sudo apt-get install libgtest-dev

还是会出现：

Could NOT find GTest (missing:  GTEST_LIBRARY GTEST_MAIN_LIBRARY)

sudo apt-get install libgtest-dev

sudo apt-get install cmake # install cmake

cd /usr/src/gtest

sudo cmake CMakeLists.txt

sudo make

#copy or symlink libgtest.a and libgtest_main.a to your /usr/lib folder

sudo cp *.a /usr/lib

-- The imported target "vtkWrapTcl" references the file    "/usr/bin/vtkWrapTcl" but this file does not exist.

sudo apt-get -y install tcl-vtk python-vtk libvtk-java

Could NOT find openni (missing: OPENNI_INCLUDE_DIRS)

sudo apt-get install libopenni-dev

sudo apt-get install libopenni2-dev

-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)

sudo apt-get install doxygen

Could NOT find GTest (missing: GTEST_LIBRARY GTEST_MAIN_LIBRARY)

pcap library not found

sudo apt-get install libpcap-dev

Could NOT find FZAPI   

Could NOT find PXCAPI

Could NOT find Sphinx (missing:  SPHINX_EXECUTABLE) 

make错误：

error: ‘sqrt’ is not a member of ‘Eigen::internal

Hi, I have solved the problem by installing Eigen 3.2 (default in Ubuntu 12.04 is 3.01) and doing the following things:backup the original "eigen3" in /use/includecopy the subdirectory: /Eigen , /unsupported, signature_of_eigen3_matrix_library to replace the old onemodify /opt/ros/groovy/include/pcl-1.6/pcl/common/eigen.hreplace Eigen::internal::sqrt with std::sqrtreplace Eigen::internal::sin/cos with Eigen::internal::psin/pcos

 error: no matching function for call to ‘boost::shared_array<short unsigned int>::shared_array(int)’

第一个例子：

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