Ubuntu16.04 PCL1.8.1源码安装

ubuntu时不时老崩溃，记录重要库的安装步骤，以防一遍遍网上搜各种教程。

vtk，pcl，opencv都是源码安装，放在了home下，重装系统后只需apt-get相关的依赖包，将编译好的包make install即可。

1. cuda8
2. zed的sdk
3. pcl
4. opencv3.2&opencv3.2-contribute

• cuda8

装之前先在  系统设置->软件与更新->附加驱动   加载和显卡匹配的驱动。

cuda下载地址

sudo sh /home/cbc/下载/cuda_8.0.61_375.26_linux.run

根据提示安装，但是不要选择装显卡驱动！
安装目录在/usr/local/cuda-8.0,记得在bashrc里添加或修改 PATH和LD_LIBRARY_PATH.
#卸载cuda命令
sudo ./usr/local/cuda-8.0/bin/uninstall_cuda_8.0.pl

• zed的sdk

chmod +x /home/cbc/下载/ZED_SDK_Linux_Ubuntu16_CUDA8_v2.2.0.run

sudo ./home/cbc/下载/ZED_SDK_Linux_Ubuntu16_CUDA8_v2.2.0.run

安装目录在/usr/local/zed

• pcl依赖及安装

1.一般不用到qt或vtk显示点云
###pcl通过ppa安装步骤
//这样安装，目前默认安装的是pcl1.7.2

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt install libpcl-dev

##pcl1.8快捷安装（没有试过）

sudo dpkg -i /home/cbc/下载/PCL-1.8.0-Linux.deb

参考
https://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/


2.正文：为了能用上qt界面交互

###pcl1.8通过源码安装（目的是为了在qt里用pcl）

sudo apt-get update

#boost

sudo apt-get install libboost-all-dev

#eigen3

sudo apt-get install libeigen3-dev

#flann

sudo apt-get install libflann1.8 libflann-dev

#其他一些小的依赖项

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 libqhull* libgtest-dev
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libxt-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install mono-complete

//一般默认装以下vtk和qt，但是运行qt里pcl的示例程序行不通，所以不装这些，从源码安装qt和vtk

//sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
//sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev

#Qt

chmod +x /home/cbc/下载/qt-opensource-linux-x64-5.9.2.run
sudo ./home/cbc/下载/qt-opensource-linux-x64-5.9.2.run

安装在home下面

#vtk7（将qt5编译进去）

git clone git://vtk.org/VTK.git//在home目录下
解压缩
mkdir VTK-build&&cd VTK-build//在home目录下
cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=/home/cbc/Qt5.9.2/5.9.2/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/home/cbc/Qt5.9.2/5.9.2/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON  /home/cbc/VTK-7.1.1
make -j4
sudo make -j4 install

#pcl源码

pcl下载地址

cd /home/cbc/pcl-1.8.1 && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j4
sudo make -j4 install

参考
https://www.vtk.org/Wiki/VTK/Building/Linux
http://blog.csdn.net/wanguku/article/details/60476469?readlog

• opencv3.2&opencv3.2-contribute

源码下载，解压缩放在home下

cd /home/cbc/opencv-3.2.0
rm -rf build
mkdir build&&cd build

//编译两个包，指明安装位置，默认为/usr/local，指明opencv3.2-contribute模块位置

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_EXTRA_MODULES_PATH=/home/cbc/opencv_contrib-3.2.0/modules/ ..

//只编译opencv3.2

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local

//make&安装

make -j4
sudo make -j4 install

#如果没有安装在默认/usr/local，比如安装在/usr/local/opencv320，则任何程序调用opencv库，都要在CMakeLists.txt里设置OpenCVConfig.cmake所在目录

set(OpenCV_DIR "/usr/local/opencv320/share/OpenCV/")

参考
http://blog.csdn.net/lql0716/article/details/54564721
https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html
https://www.pyimagesearch.com/2015/06/22/install-opencv-3-0-and-python-2-7-on-ubuntu/