deepin上安装pcl及python-pcl记录

一. 从预编译版本或从仓库安装pcl

1. 安装pcl

• 使用官方提供的预编译版本

地址
http://www.pointclouds.org/downloads/linux.html

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key 19274DEF
sudo echo "deb http://ppa.launchpad.net/v-launchpad-jochen-sprickerhof-de/pcl/ubuntu maverick main" >> /etc/apt/sources.list
sudo apt-get update
sudo apt-get install libpcl-all

问题
sudo apt-get install libpcl-all时有依赖问题无法解决

• 从deepin软件仓库直接安装

sudo apt-get install libpcl1.7   # 也有其他版本

此方法安装成功

2. 安装python-pcl

地址
https://github.com/strawlab/python-pcl

git clone https://github.com/strawlab/python-pcl
cd python-pcl
make 
sudo python setup.py install  

问题
make时失败，提示

python setup.py build_ext --inplace
setup.py: error: cannot find PCL, tried
pkg-config pcl_common-1.7
pkg-config pcl_common-1.6
pkg-config pcl_common
Makefile: 5: recipe for target 'pcl/_pcl.so' failed
make: *** [pcl/_pcl.so] Error 1

---

二. 以源码编译方式安装pcl

1. 安装pcl

因为安装预编译过的或者从从仓库中安装pcl后，都存在问题，所以从源码编译安装试试
参考
http://blog.csdn.net/u014222645/article/details/45232917

http://blog.csdn.net/zhuquan945/article/details/52809064

1. 下载PCL源代码

$ git clone https://github.com/PointCloudLibrary/pcl.git 

2. 安装相关的库

$ sudo apt-get install  libboost-all-dev libeigen3-dev libflann-dev python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libpng12-dev libgtest-dev libxmu-dev libxi-dev libpcap-dev libqhull-dev libvtk5-qt4-dev python-vtk libvtk-java

注意：libflann版本要大于1.7，libvtk5-qt4-dev和 libpng12-dev可能会有冲突

3. 编译pcl源码

cd pcl
mkdir build & cd build
cmake  -D CMAKE_BUILD_TYPE=None  -D BUILD_GPU=ON  -D BUILD_apps=ON  -D BUILD_examples=ON ..   # 如果这一步提示缺什么就再装什么
make
sudo make install

2. 安装python-pcl

git clone https://github.com/strawlab/python-pcl
cd python-pcl
make 
sudo python setup.py install  

注意：
make时如果出现如下错误

Package pcl_2d-1.8 was not found in the pkg-config search path.
Perhaps you should add the directory containing pcl_2d-1.8.pc' to the PKG_CONFIG_PATH ......

需要修改/usr/local/lib/pkgconfig/pcl_features-1.8.pc文件，删除第10行的pcl_2d-1.8

原文

http://jlan.me/2016/11/07/deepin%E4%B8%8A%E5%AE%89%E8%A3%85pcl%E5%8F%8Apython-pcl/

参考

https://github.com/strawlab/python-pcl/issues/97