PCL配置(PCL1.9.1+Win10+Visual Studio 2017; PCL1.9.1+Ubuntu18.04)

一、PCL1.9.1+Win10+Visual Studio 2017

2019/10/17 按照这个博文的流程操作，最后测试成功了：https://blog.csdn.net/weixin_41991128/article/details/83864713

二、PCL1.9.1+Ubuntu18.04

先安装依赖项，参考https://zhuanlan.zhihu.com/p/58615079
注意版本可能是旧的，apt-get时可能找不到，这时候可以用*代替数字，
然后按官网的安装教程：http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php

我的运行结果：

$ cmake ..
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
m-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
ake-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Using CPU native flags for SSE optimization: -march=native
-- Performing Test HAVE_MM_MALLOC
-- Performing Test HAVE_MM_MALLOC - Success
-- Performing Test HAVE_POSIX_MEMALIGN
-- Performing Test HAVE_POSIX_MEMALIGN - Success
-- Performing Test HAVE_SSE4_2_EXTENSIONS
-- Performing Test HAVE_SSE4_2_EXTENSIONS - Success
-- Performing Test HAVE_SSE4_1_EXTENSIONS
-- Performing Test HAVE_SSE4_1_EXTENSIONS - Success
-- Performing Test HAVE_SSSE3_EXTENSIONS
-- Performing Test HAVE_SSSE3_EXTENSIONS - Success
-- Performing Test HAVE_SSE3_EXTENSIONS
-- Performing Test HAVE_SSE3_EXTENSIONS - Success
-- Performing Test HAVE_SSE2_EXTENSIONS
-- Performing Test HAVE_SSE2_EXTENSIONS - Success
-- Performing Test HAVE_SSE_EXTENSIONS
-- Performing Test HAVE_SSE_EXTENSIONS - Success
-- -- GCC > 4.3 found, enabling -Wabi
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Found OpenMP
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.4
-- Found Eigen: /usr/include/eigen3  
-- Eigen found (include: /usr/include/eigen3, version: 3.3.4)
-- Checking for module 'flann>=1.7.0'
--   Found flann, version 1.9.1
-- FLANN found (include: , lib: flann;flann_cpp)
-- Found LIBUSB_1: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.21
-- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Found OpenNI: /usr/lib/libOpenNI.so  
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- Found OpenNI2: /usr/lib/libOpenNI2.so  
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- Could NOT find FZAPI (missing: FZAPI_LIBS FZAPI_INCLUDE_DIRS) 
-- Fotonic camera support: not building because FZAPI not found
-- Could NOT find ENSENSO (missing: ENSENSO_LIBRARIES ENSENSO_INCLUDE_DIRS) 
-- IDS-Imaging Ensenso camera support: not building because Ensenso not found
-- Could NOT find davidSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
-- David Vision Systems SDK support: not building because davidSDK not found
-- Could NOT find DSSDK (missing: DSSDK_LIBRARIES DSSDK_INCLUDE_DIRS) 
-- DepthSense SDK support: not building because DSSDK not found
-- Could NOT find RSSDK (missing: RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS) 
-- RealSense SDK support: not building because RSSDK not found
-- Checking for module 'metslib'
--   No package 'metslib' found
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11") 
-- Could NOT find PNG (missing: PNG_LIBRARY PNG_PNG_INCLUDE_DIR) 
-- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so  
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA Toolkit v10.0
-- CUDA NVCC target flags: -gencode;arch=compute_30,code=sm_30;-gencode;arch=compute_35,code=sm_35;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_52,code=sm_52;-gencode;arch=compute_53,code=sm_53;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_72,code=sm_72;-gencode;arch=compute_75,code=sm_75
CMake Warning at CMakeLists.txt:366 (find_package):
  By not providing "FindVTK.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "VTK", but
  CMake did not find one.

  Could not find a package configuration file provided by "VTK" with any of
  the following names:

    VTKConfig.cmake
    vtk-config.cmake

  Add the installation prefix of "VTK" to CMAKE_PREFIX_PATH or set "VTK_DIR"
  to a directory containing one of the above files.  If "VTK" provides a
  separate development package or SDK, be sure it has been installed.


-- Found PCAP: /usr/lib/x86_64-linux-gnu/libpcap.so  
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   filesystem
--   thread
--   date_time
--   iostreams
--   chrono
--   system
--   atomic
--   regex
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- DOXYGEN_FOUND 
-- HTML_HELP_COMPILER 
-- Found CPack generators: DEB
-- The following subsystems will be built:
--   common
--   kdtree
--   octree
--   search
--   sample_consensus
--   filters
--   2d
--   geometry
--   io
--   features
--   ml
--   segmentation
--   surface
--   registration
--   keypoints
--   tracking
--   recognition
--   stereo
--   tools
-- The following subsystems will not be built:
--   visualization: VTK was not found.
--   apps: No reason
--   outofcore: Disabled manually.
--   examples: Code examples are disabled by default.
--   people: Disabled manually.
--   simulation: Disabled by default.
--   global_tests: No reason
-- Configuring done
-- Generating done
-- Build files have been written to: /home/aming/文档/pcl/pcl-pcl-1.9.1/build

可以看到最后几行中显示 visualization: VTK was not found.那就先安装一下VTK(https://vtk.org/download/,这里略)

再放一编cmake的结果

cmake -DCMAKE_BUILD_TYPE=Release ..
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Using CPU native flags for SSE optimization: -march=native
-- Performing Test HAVE_MM_MALLOC
-- Performing Test HAVE_MM_MALLOC - Success
-- Performing Test HAVE_POSIX_MEMALIGN
-- Performing Test HAVE_POSIX_MEMALIGN - Success
-- Performing Test HAVE_SSE4_2_EXTENSIONS
-- Performing Test HAVE_SSE4_2_EXTENSIONS - Success
-- Performing Test HAVE_SSE4_1_EXTENSIONS
-- Performing Test HAVE_SSE4_1_EXTENSIONS - Success
-- Performing Test HAVE_SSSE3_EXTENSIONS
-- Performing Test HAVE_SSSE3_EXTENSIONS - Success
-- Performing Test HAVE_SSE3_EXTENSIONS
-- Performing Test HAVE_SSE3_EXTENSIONS - Success
-- Performing Test HAVE_SSE2_EXTENSIONS
-- Performing Test HAVE_SSE2_EXTENSIONS - Success
-- Performing Test HAVE_SSE_EXTENSIONS
-- Performing Test HAVE_SSE_EXTENSIONS - Success
-- -- GCC > 4.3 found, enabling -Wabi
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Found OpenMP
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.4
-- Found Eigen: /usr/include/eigen3  
-- Eigen found (include: /usr/include/eigen3, version: 3.3.4)
-- Checking for module 'flann>=1.7.0'
--   Found flann, version 1.9.1
-- FLANN found (include: , lib: flann;flann_cpp)
-- Found LIBUSB_1: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.21
-- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Found OpenNI: /usr/lib/libOpenNI.so  
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- Found OpenNI2: /usr/lib/libOpenNI2.so  
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- Could NOT find FZAPI (missing: FZAPI_LIBS FZAPI_INCLUDE_DIRS) 
-- Fotonic camera support: not building because FZAPI not found
-- Could NOT find ENSENSO (missing: ENSENSO_LIBRARIES ENSENSO_INCLUDE_DIRS) 
-- IDS-Imaging Ensenso camera support: not building because Ensenso not found
-- Could NOT find davidSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
-- David Vision Systems SDK support: not building because davidSDK not found
-- Could NOT find DSSDK (missing: DSSDK_LIBRARIES DSSDK_INCLUDE_DIRS) 
-- DepthSense SDK support: not building because DSSDK not found
-- Could NOT find RSSDK (missing: RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS) 
-- RealSense SDK support: not building because RSSDK not found
-- Checking for module 'metslib'
--   No package 'metslib' found
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11") 
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.34") 
-- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so  
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA Toolkit v10.0
-- CUDA NVCC target flags: -gencode;arch=compute_30,code=sm_30;-gencode;arch=compute_35,code=sm_35;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_52,code=sm_52;-gencode;arch=compute_53,code=sm_53;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_72,code=sm_72;-gencode;arch=compute_75,code=sm_75
-- VTK_MAJOR_VERSION 8, rendering backend: OpenGL2
-- VTK found (include: /usr/local/include/vtk-8.2, lib: vtksys;vtkCommonCore;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonDataModel;vtkCommonColor;vtkCommonExecutionModel;vtkCommonComputationalGeometry;vtkFiltersCore;vtkFiltersGeneral;vtkImagingCore;vtkImagingFourier;vtkFiltersStatistics;vtkFiltersExtraction;vtkInfovisCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingCore;vtkzlib;vtkfreetype;vtkRenderingFreeType;vtkRenderingContext2D;vtkChartsCore;vtkDICOMParser;vtkdoubleconversion;vtklz4;vtklzma;vtkIOCore;vtkIOLegacy;vtkexpat;vtkIOXMLParser;vtkDomainsChemistry;vtkglew;vtkRenderingOpenGL2;vtkDomainsChemistryOpenGL2;vtkIOXML;vtkParallelCore;vtkFiltersAMR;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkImagingSources;vtkFiltersHybrid;vtkFiltersHyperTree;vtkImagingGeneral;vtkFiltersImaging;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelImaging;vtkFiltersPoints;vtkFiltersProgrammable;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersTopology;verdict;vtkFiltersVerdict;vtkmetaio;vtkjpeg;vtkpng;vtktiff;vtkIOImage;vtkImagingHybrid;vtkInfovisLayout;vtkInteractionStyle;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkInteractionWidgets;vtkViewsCore;vtklibproj;vtkGeovisCore;vtkhdf5_src;vtkhdf5_hl_src;vtkIOAMR;vtkIOAsynchronous;vtkpugixml;vtkIOCityGML;vtkIOEnSight;vtknetcdf;vtkexodusII;vtkIOExodus;vtkgl2ps;vtkRenderingGL2PSOpenGL2;vtkIOExport;vtkIOExportOpenGL2;vtklibharu;vtkIOExportPDF;vtkIOGeometry;vtkIOImport;vtklibxml2;vtkIOInfovis;vtkIOLSDyna;vtkIOMINC;vtkogg;vtktheora;vtkIOMovie;vtkIONetCDF;vtkIOPLY;vtkjsoncpp;vtkIOParallel;vtkIOParallelXML;vtksqlite;vtkIOSQL;vtkIOSegY;vtkIOTecplotTable;vtkIOVeraOut;vtkIOVideo;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkRenderingContextOpenGL2;vtkRenderingImage;vtkRenderingLOD;vtkRenderingLabel;vtkRenderingVolumeOpenGL2;vtkViewsContext2D;vtkViewsInfovis
-- Found PCAP: /usr/lib/x86_64-linux-gnu/libpcap.so  
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   filesystem
--   thread
--   date_time
--   iostreams
--   chrono
--   system
--   atomic
--   regex
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- DOXYGEN_FOUND 
-- HTML_HELP_COMPILER 
-- Found CPack generators: DEB
-- The following subsystems will be built:
--   common
--   kdtree
--   octree
--   search
--   sample_consensus
--   filters
--   2d
--   geometry
--   io
--   features
--   ml
--   segmentation
--   visualization
--   surface
--   registration
--   keypoints
--   tracking
--   recognition
--   stereo
--   outofcore
--   people
--   tools
-- The following subsystems will not be built:
--   apps: No reason
--   examples: Code examples are disabled by default.
--   simulation: Disabled by default.
--   global_tests: No reason
-- Configuring done
-- Generating done
-- Build files have been written to: /home/aming/文档/pcl/pcl-pcl-1.9.1/build

可以看到还有很多没安装的，但不影响使用。
注意到openni已经被找到(-- Found OpenNI: /usr/lib/libOpenNI.so )，如果找不到，后面按照官网The OpenNI Grabber Framework in PCL运行时会出错。
因此如果没找到，可以尝试

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

以后如果运行程序报错缺少某个文件，可以通过cmake来检查是否少装了某个依赖项。

---2019.10.25
我在跑PCL tutorial openni_grabber时make时遇到error，一直解决不了，最后改用github上的openni_grabber才成功跑出来结果。