安装PCL OPENNI
1.通过apt-get安装
sudoadd-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudoapt-get install libpcl-all
连不上，……
2.通过源码安装
2.1 安装依赖项
sudo apt-get installg++
sudo apt-get installcmake cmake-gui
sudo apt-get installdoxygen
sudo apt-get installmpi-default-dev openmpi-bin openmpi-common
sudo apt-get installlibflann1 libflann-dev
sudo apt-get installlibeigen3-dev
sudo apt-get installlibboost-all-dev
sudo apt-get installlibvtk5.8-qt4 libvtk5.8libvtk5-dev
sudo apt-get installlibqhull*
sudo apt-get installlibusb-dev
sudo apt-get installlibgtest-dev
sudo apt-get installgit-core freeglut3-dev pkg-config
sudo apt-get installbuild-essential libxmu-dev libxi-dev
sudo apt-get installlibusb-1.0-0-dev graphviz mono-complete
sudo apt-get installqt-sdk openjdk-7-jdk openjdk-7-jre
sudo apt-get installphonon-backend-gstreamer
sudo apt-get installphonon-backend-vlc
安装libflann1时出现问题，仓库里没有了，百度搜索，找到了deb包
sudo dpkg -i libflann1.7_1.7.1-4_amd64.deb
按上了，希望是好使的，不会有什么问题，
so ……继续安装其他依赖项，终于安完了依赖项，其中只有libflann1没找到，其他在仓库里都找到了
话说16.04公有库里提供了PCL，可能会好使一些。
2.2 下载PCL源码文件
$git clonehttps://github.com/PointCloudLibrary/pcl.git pcl-trunk ln -s pcl-trunk pcl(我是直接下载了压缩包，解压的，不然太慢了)
$mkdir release
$cd release
$cmake-DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
$make -j4 (四线程编译，CPU没有四线程的就不要j4了）
$sudo make install
make的时候出现了这样一些东西
/home/zq/slam/ch5/pcl-trunk/common/include/pcl/sse.h:87:6:warning: the mangled name of ‘__m128 pcl::sse_cmpgt(__m128, __m128)’ willchange in a future version of GCC [-Wabi]
RETfsse_cmpgt( const __m128 x, const __m128 y ) { return _mm_cmpgt_ps(x,y); }
^
/home/zq/slam/ch5/pcl-trunk/common/include/pcl/sse.h:88:6:warning: the mangled name of ‘__m128i pcl::sse_cmpgt(__m128i, __m128i)’ willchange in a future version of GCC [-Wabi]
RETisse_cmpgt( const __m128i x, const __m128i y ) { return _mm_cmpgt_epi32(x,y); }
^
又出问题了，编译停止
#include
^
compilation terminated.
make[2]: ***[apps/CMakeFiles/pcl_openni_passthrough.dir/include/pcl/apps/moc_openni_passthrough.cpp.o]Error 1
make[1]: ***[apps/CMakeFiles/pcl_openni_passthrough.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX executable../bin/pcl_openni_shift_to_depth_conversion
Linking CXX shared library../../lib/libpcl_gpu_kinfu_large_scale.so
[ 56%] Built targetpcl_openni_shift_to_depth_conversion
[ 56%] Built targetpcl_gpu_kinfu_large_scale
Linking CXX executable../bin/pcl_openni_voxel_grid
[ 56%] Built target pcl_openni_voxel_grid
make: *** [all] Error 2
看来PCL还依赖OPENI，那就先安装OPENI吧
网上教程：
二、openni2.0
1.安装 OpenNI2依赖项
| 1 2 |
$sudo apt-get install -y g++ python libusb-1.0-0-dev freeglut3-dev doxygen graphviz $sudo apt-get install libudev-dev |
2.从github将openni2源码clone下来
| 1 2 |
$git clone https://github.com/occipital/OpenNI2.git $cd OpenNI2 |
Building OpenNI:
1) Go into the directory:"Platform/Linux-x86/CreateRedist".
Run the script:"./RedistMaker".
This will compile everythingand create a redist package in the "Platform/Linux-x86/Redist"directory.
It will also create adistribution in the "Platform/Linux-x86/CreateRedist/Final"directory.
2) Go into the directory:"Platform/Linux-x86/Redist".
Run the script: "sudo./install.sh" (needs to run as root)
The install script copieskey files to the following location:
Libs into: /usr/lib
Bins into: /usr/bin
Includes into:/usr/include/ni
Config files into:/var/lib/ni
github上有官方安装、依赖项及编译说明。
安装完成，继续make PCL ，出错了
sthrough.cpp:9:
/usr/include/vtk-5.8/QVTKWidget.h:40:25: fatal error: QtGui/QWidget:No such file or directory
#include
^
compilation terminated.
Linking CXX executable ../bin/pcl_openni_organized_edge_detection
make[2]: ***[apps/CMakeFiles/pcl_openni_passthrough.dir/include/pcl/apps/moc_openni_passthrough.cpp.o]Error 1
make[1]: *** [apps/CMakeFiles/pcl_openni_passthrough.dir/all] Error2
make[1]: *** Waiting for unfinished jobs....
[ 66%] Built target pcl_openni_octree_compression
[ 66%] Built target pcl_openni_organized_edge_detection
Linking CXX executable ../bin/pcl_openni_shift_to_depth_conversion
[ 66%] Built target pcl_openni_shift_to_depth_conversion
make: *** [all] Error 2
原因是qt4 QtGui.h头文件是这么定义的 Qt::WindowFlags window_flags;
但是 QVTKWidget.h 87行是这么使用的 Qt::WFlags f=0);
所以解决办法，如果不想换vtk5.8，可以修改一下WFlags。亲测有效。
cd /usr/include/vtk-5.8$ sudo vim QVTKWidget.h
如果编译器找不到头文件
安装完成。