ubuntu18.04安装python-pcl1.9,vtk8.1，pcl1.9

一.安装pcl1.9

  1. 安装依赖

sudo apt-get install g++
sudo apt-get install cmake cmake-gui
sudo apt-get install doxygen
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk6-dev libvtk6.2 libvtk6.2-qt
sudo apt-get install 'libqhull*'
sudo apt-get install libusb-dev
sudo apt-get install libgtest-dev
sudo apt-get install git-core freeglut3-dev pkg-config
sudo apt-get install build-essential libxmu-dev libxi-dev
sudo apt-get install libusb-1.0-0-dev graphviz mono-complete
sudo apt-get install qt-sdk openjdk-9-jdk openjdk-9-jre
sudo apt-get install phonon-backend-gstreamer
sudo apt-get install phonon-backend-vlc
sudo apt-get install libopenni-dev libopenni2-dev

  可以将上述命令放入pcl_dependences.sh，到所在文件，终端输入：

sudo sh install_pcl_dependences.sh

  2.从github 下载pcl1.9

git clone -b  pcl-1.9.1 https://github.com/PointCloudLibrary/pcl.git 

  git clone -b pcl-1.9.1 下载pcl分支，版本pcl-1.9.1

  3.编译安装

cd pcl 
mkdir build 
cd build
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make  -j6
sudo make install

  make -j(6) 6根据自己的cpu核数确定

  4.安装可视化依赖（可选）

 安装 OpenNI,OpenNI2

sudo apt-get install libopenni-dev 
sudo apt-get install libopenni2-dev

二.安装python-pcl1.9

  1.首先安装vtk

  下载vtk，拷贝到安装目录下
    百度网盘下载链接： https://pan.baidu.com/s/1UGxBn7imrPeJ7h78EH-j6Q
    提取码: ggnd

tar -xzvf VTK-8.1.0.tar.gz
cd VTK-8.1.0
mkdir build
cd build/
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON -DBUILD_TESTING=OFF ..
make -j6
sudo make install

  2.安装numpy,cython

pip install numpy==1.16.1
pip install cython==0.26

  3. 安装Python-pcl

  源码下载

git clone https://github.com/strawlab/python-pcl.git
cd python-pcl

  打开python-pcl中的setup.py，删除里面的一些vtk依赖
  (763行以后，也就是所对应的vtk8.1版本）：
  删除内容如下：

'vtkFiltersPython-'+ vtk_version
'vtkPythonInterpreter'+ vtk_version
'vtkRenderingMatplotlib'+ vtk_version
'vtkWrappingTools'+ vtk_version

  保存好开始安装：

python setup.py build_ext -i
sudo python setup.py install

  最后显示如下:
python-pcl==0.3.0rc1

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参考博文

ubuntu18.04安装pcl
ubuntu18.04安装python-pcl
python-pcl安装问题解决
Python-pcl求解各种坑