Ubuntu下安装PCL1.12.1点云库经验分享

内容简介

本文主要分享我在Ubuntu下安装PCL点云库的经验，这里我用的ubuntu是22.04版本，依赖库基本都下载的新的，VTK版本是8.2（建议不要使用更新版本），PCL版本是1.12.1。

安装ubuntu

这里建议安装虚拟机，可以参照ubuntu20.04安装教程进行安装，需要注意的是安装时候要分配足够的磁盘空间，因为如果后面扩展磁盘空间的话会比较麻烦，扩展硬盘空间可以参照扩展磁盘进行操作，建议不要走到这一步。

VMware全屏下不完全显示

这里参考VMware虚拟机不能全屏的解决办法进行操作，也就是将设置中的分辨率改一下。

换国内镜像源

有了ubuntu之后首先要做的就是换上国内的镜像源，这里可以参照Ubuntu换源的两种方法进行操作，这样能使我们的下载速度得到明显提升。

安装VTK

这里参照Ubuntu18安装VTK8.2进行操作，但是make时候出现了问题。

问题一

[ 87%] Linking C shared library ../../../lib/libvtkexodusII-8.2.so
/usr/bin/ld: CMakeFiles/vtkexodusII.dir/src/ex_open_par.c.o:/home/littlez/下载/Software/VTK-8.2.0/ThirdParty/exodusII/vtkexodusII/src/ex_open_par.c:477: multiple definition of `exodus_unused_symbol_dummy_1'; CMakeFiles/vtkexodusII.dir/src/ex_create_par.c.o:/home/littlez/下载/Software/VTK-8.2.0/ThirdParty/exodusII/vtkexodusII/src/ex_create_par.c:617: first defined here
collect2: error: ld returned 1 exit status
make[2]: *** [ThirdParty/exodusII/vtkexodusII/CMakeFiles/vtkexodusII.dir/build.make:4436：lib/libvtkexodusII-8.2.so.1] 错误 1
make[1]: *** [CMakeFiles/Makefile2:5836：ThirdParty/exodusII/vtkexodusII/CMakeFiles/vtkexodusII.dir/all] 错误 2
make: *** [Makefile:136：all] 错误 2

可以看到这是multiple definition of ‘exodus_unused_symbol_dummy_1’，处理办法也是简单粗暴，找到其中一个定义，然后注释掉。

问题二

[ 99%] Building CXX object Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtLabelRenderStrategy.cxx.o
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx: In member function ‘virtual void vtkQtLabelRenderStrategy::ComputeLabelBounds(vtkTextProperty*, vtkUnicodeString, double*)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx:229:18: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined
  229 |     QPainterPath path;
      |                  ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx: In member function ‘virtual void vtkQtLabelRenderStrategy::RenderLabel(int*, vtkTextProperty*, vtkUnicodeString, int)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx:331:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined
  331 |   QPainterPath path;
      |                ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx: In member function ‘virtual void vtkQtLabelRenderStrategy::RenderLabel(int*, vtkTextProperty*, vtkUnicodeString)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx:442:18: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined
  442 |     QPainterPath path;
      |                  ^~~~
make[2]: *** [Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/build.make:104：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtLabelRenderStrategy.cxx.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:7066：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/all] 错误 2
make: *** [Makefile:136：all] 错误 2

以及

[ 99%] Building CXX object Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtStringToImage.cxx.o
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx: In member function ‘virtual vtkVector2i vtkQtStringToImage::GetBounds(vtkTextProperty*, const vtkUnicodeString&, int)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx:109:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined
  109 |   QPainterPath path;
      |                ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx: In member function ‘virtual vtkVector2i vtkQtStringToImage::GetBounds(vtkTextProperty*, const vtkStdString&, int)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx:140:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined
  140 |   QPainterPath path;
      |                ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx: In member function ‘virtual int vtkQtStringToImage::RenderString(vtkTextProperty*, const vtkUnicodeString&, int, vtkImageData*, int*)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx:187:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined
  187 |   QPainterPath path;
      |                ^~~~
make[2]: *** [Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/build.make:118：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtStringToImage.cxx.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:7066：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/all] 错误 2
make: *** [Makefile:136：all] 错误 2

这里就是aggregate ‘QPainterPath path’ has incomplete type and cannot be defined 处理办法也是简单地在对应文件中加入

#includ <QPainterPath>

这样算是能完成编译，后续如有问题还会更新。

安装PCL

接下来要做的就是安装PCL了，这里可以参照ubuntu18.04 安装pcl（详细教程）进行操作，目前还没遇到问题，能完成下载，后续使用一段时间后再来分享。这里有条命令分享一下：

sudo apt-cache search libxxx #查看libxxx可供下载的版本

在编译VTK和PCL时我们一般会用多线程同时编译以节省时间，也就是

make -j2 #这里的2就代表编译所用的线程数

然而这也会带来很大的内存开销，当内存不足时，make就会闪退，以我的实际经历来说，给了虚拟机8G内存，开两个线程make，结果还是会内存爆掉，只开一个线程才能正常make过去。

配置vscode

配置C++环境可以参照vscode环境中配置C++环境，配置PCL则可以参照vscode配置OpenCV+PCL进行操作，但是由于PCL为1.12.1版本，VTK为8.2版本，这里在配置时c_cpp_properties.json、launch.json和tasks.json都需要一定的修改，这里我是按如下进行设置。

注意：这里的配置还不完善，仅供参考。

c_cpp_properties.json

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "${workspaceFolder}",
                "/usr/local/include/pcl-1.12",
                "/usr/include",
                "/usr/include/vtk-7.1",
                "/usr/include/libqhull",
                "/usr/include/flann",
                "/usr/include/boost",
                "/usr/include/eigen3",
                "/usr/include/eigen3/Eigen/",
                "/usr/include/x86_64-linux-gnu/sys"
            ],
            "defines":[],
            "browse": {
                "path": [
                    "/usr/include",
                    "/usr/local/include/pcl-1.12"
                ]
            },
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "clang-x64"
            // "cStandard": "gnu17",
            // "cppStandard": "gnu++17",
            // "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}

launch.json

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) 启动",
            "type": "cppdbg",
            "request": "launch",
            // "program": "${workspaceFolder}/${fileBasenameNoExtension}.out",
            "program": "${workspaceFolder}/main.out",
            "miDebuggerPath": "/usr/bin/gdb",
            "preLaunchTask": "build",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": true,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}

tasks.json

{
    // See https://go.microsoft.com/fwlink/?LinkId=733558
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
        {
            "label": "build",
            "type": "shell",
            "command":"g++",
            "args": [
                "-g",
                "${workspaceFolder}/${fileBasename}",
                "-I","/usr/local/include/pcl-1.12",
                "-I","/usr/include/eigen3",
                "-I","/usr/include/vtk-7.1",
                "-I","/usr/include/libqhull",
                "-I","/usr/include/flann",
                "-I","/usr/include/boost",
                "-L","/usr/local/lib",
                "-l","pcl_io",
                "-l","pcl_visualization",
                "-l","pcl_common",
                // "-l","vtkFiltering",
                // "-l","vtkCommon",
                // "-l","vtkRendering",
                // "-l","vtkGraphics",
                "-l","vtkFiltersCore-8.2",
                "-l","vtkCommonCore-8.2",
                "-l","vtkRenderingCore-8.2",
                "-l","vtkGeovisCore-8.2",
                "-I","/usr/include/x86_64-linux-gnu",
                "-l","boost_system",
                "-o",
                "${workspaceFolder}/main.out"
            ],
            "group":{
                "kind": "build",
                "isDefault": true
            }
        }
        // ,
        // {
        //     "label": "build",
        //     "type": "shell",
        //     "command": "g++",
        //     "args": ["-g","${file}","-o","${fileBasenameNoExtension}.out"]
        // }
    ]
}

这里尤其需要注意的是tasks.json文件，本质上就是把命令行要输入的命令写在这个文件里了，有兴趣的朋友可以参考一下Linux下G++编译。

用以上文件内容替换其他配置教程中对应文件中的内容，再按照教程里操作步骤进行操作即可将代码编译通过，生成可执行程序。

CMake编译

相比配置VScode来编译代码，用cmake来编译可能才是更多人的选择。可以参考PCL配置，这里也简单介绍一下。

就是先在工程的文件夹中新建一个CMakeLists.txt，内容根据自己的需要来填，如：

cmake_minimum_required(VERSION 3.0)    
project(testpcl)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})    
link_directories(${PCL_LIBRARY_DIRS})    
add_definitions(${PCL_DEFINITIONS})
add_executable(testpcl testpcl.cpp)
target_link_libraries (testpcl ${PCL_LIBRARIES})
install(TARGETS testpcl RUNTIME DESTINATION bin) 

然后在终端中依次输入：

mkdir build    
cd build    
cmake ..    
make
./testpcl #注意这里要根据实际填写

这样能完成编译并执行生成的可执行程序，这里在执行可执行文件的时候还遇到了一个问题。

littlez@littlez-virtual-machine:~/Learn/build$ ./testpcl
./testpcl: error while loading shared libraries: libvtkfreetype-8.2.so.1: cannot open shared object file: No such file or directory

这里参照解决可执行文件运行时报错及export LD_LIBRARY_PATH 的使用里的内容，在 ~ 路径下的 .bashrc 文件中加入下面语句

export LD_LIBRARY_PATH=LD_LIBRARY_PATH:/usr/local/lib

这样就能正常执行可执行文件了，以下是测试结果。

xshell连接ubuntu

为解决主机与虚拟机之间文件传输问题，这里我们使用xshell和xftp来实现，具体流程可以参照xshell连接ubuntu。

总结

泪目了，家人们！

这里要说的就是，make时候心中默念“佛祖保佑”，这样可以给cmake加buff（不是）。遇到困难不要怕，微笑地面对她！如果真的遇到问题，要相信我所走过的坑前人一定都走过，细心一点，看是报了什么错，然后去搜答案抄作业。如果真遇到了前人没踩过的坑，那就勇于做第一个踩坑人吧~~~

以上内容希望能给各位提供一定参考，最后祝各位都能successful ！！！