Ubuntu20.04安装pcl1.9.1

相关依赖的安装

sudo apt-get install libeigen3-dev
sudo apt-get install libflann1.9 libflann-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libpcap-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mono-complete
sudo apt-get install libopenni-dev libopenni2-dev

安装步骤

如果你已经安装了VTK，那么安装pcl就比较简单
1、和安装VTK8.2一样，去官网下载pcl1.9.1的压缩包

2、解压后创建build文件夹并进入
3、输入cmake-gui命令，设置源码目录和输出目录，勾选Group和Adavanced，点击config后，进行如下设置

BUILD_surface_on_nurbs == ON
PCL_ENABLE_SSE==OFF

// 下面两个要手动添加
VTK_GROUP_QT==ON
VTK_QT_VERSION = 5

4、出现“Run “cmake --help-policy CMP0072” for policy details. Use the cmake_policy command to set the policy and suppress this warning.”问题，在/pcl-pcl-1.9.1/CMakeLists.txt文件中，添加以下代码

if (POLICY CMP0072)
	set(OpenGL_GL_PREFERENCE LEGACY)
endif()

5、和VTK一样，进行编译安装。不过pcl的编译和安装很长，至少3小时

sudo make

sudo checkinstall --pkgname=pcl-1.9.1

参考文献

Ubuntu 20.04.05安装PCL-1.12.0
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