本文共 5159 字，大约阅读时间需要 17 分钟。
1. clone pcl 1.8.1
git clone https://github.com/PointCloudLibrary/pcl.git
2. install eigen
sudo apt-get install libeigen3-dev
3. compile flann1.9.1 from github
https://github.com/mariusmuja/flann
4. install boost
sudo apt-get install libboost-all-dev
5. compile vtk-8.0.1
down sourcecode from its official website
then compile
6. install openni and openni2
7. other prerequisites libraries please see https://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/
jdk
sudo apt-get update
sudo apt-get install default-jre sudo apt-get install default-jdk8. the configuration of cmake-gui looks like:
note: I need kinfu part, so I tick BUILD_GPU option. BTW, my GPU doesn't support 2.0 ARCH, so in GUDA group, delete 2.0 2.1(2.0)
The C compiler identification is GNU 5.4.0
The CXX compiler identification is GNU 5.4.0
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
Using CPU native flags for SSE optimization: -march=native
-- GCC > 4.3 found, enabling -Wabi
Found OpenMP
Eigen found (include: /usr/include/eigen3, version: 3.2.92)
FLANN found (include: /usr/local/include, lib: optimized;/usr/local/lib/libflann_cpp.so;debug;/usr/local/lib/libflann_cpp.so)
OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
OpenNI 2 found (include: /home/seamanj/OpenNI2/Packaging/Final/OpenNI-Linux-x64-2.2/Include, lib: /home/seamanj/OpenNI2/Packaging/Final/OpenNI-Linux-x64-2.2/Redist/libOpenNI2.so, redist: /home/seamanj/OpenNI2/Packaging/Final/OpenNI-Linux-x64-2.2/Redist)
Checking for module 'metslib'
No package 'metslib' found
QHULL found (include: /usr/local/include, lib: optimized;/usr/local/lib/libqhull_p.so;debug;/usr/local/lib/libqhull_p.so)
Found CUDA Toolkit v9.0
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
VTK_MAJOR_VERSION 8, rendering backend: OpenGL2
VTK found (include: /usr/local/include/vtk-8.0, lib: vtkCommonExecutionModel;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkjpeg;vtkDICOMParser;vtkInteractionImage;vtkImagingColor;vtkImagingCore;vtkInteractionStyle;vtkFiltersExtraction;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersSources;vtkRenderingCore;vtkCommonColor;vtkFiltersGeometry;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkmetaio;vtkzlib;vtkpng;vtktiff;vtkRenderingAnnotation;vtkRenderingFreeType;vtkfreetype;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtklz4;vtkIOXMLParser;vtkexpat;vtkIOParallelXML;vtkParallelCore;vtkIOLegacy;vtkFiltersSMP;vtkjsoncpp;vtkIOExportOpenGL2;vtkIOExport;vtkRenderingContext2D;vtkRenderingGL2PSOpenGL2;vtkRenderingOpenGL2;vtkglew;vtkgl2ps;vtklibharu;vtkFiltersFlowPaths;vtkIOVideo;vtkIOMINC;vtkNetCDF;vtkhdf5_hl;vtkhdf5;vtkexoIIc;vtkRenderingImage;vtkIONetCDF;vtknetcdfcpp;vtkIOSQL;vtksqlite;vtkFiltersAMR;vtkImagingStatistics;vtkDomainsChemistryOpenGL2;vtkDomainsChemistry;vtkRenderingContextOpenGL2;vtkChartsCore;vtkInfovisCore;vtkIOExodus;vtkIOLSDyna;vtkFiltersProgrammable;vtkIOPLY;vtkIOEnSight;vtkIOMovie;vtkoggtheora;vtkIOTecplotTable;vtkRenderingLabel;vtkFiltersVerdict;verdict;vtkIOAMR;vtkFiltersTopology;vtkIOImport;vtkIOGeometry;vtkViewsContext2D;vtkViewsCore;vtkRenderingVolumeOpenGL2;vtkImagingMath;vtkImagingMorphological;vtkFiltersImaging;vtkFiltersSelection;vtkFiltersTexture;vtkproj4;vtklibxml2;vtkFiltersHyperTree;vtkIOInfovis;vtkViewsInfovis;vtkInfovisLayout;vtkRenderingLOD;vtkFiltersPoints;vtkFiltersGeneric;vtkIOParallel;vtkFiltersParallel;vtkGeovisCore;vtkImagingStencil;vtkFiltersParallelImaging
Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)
Boost version: 1.58.0
Found the following Boost libraries:
system
filesystem
thread
date_time
iostreams
chrono
atomic
regex
DOXYGEN_FOUND
HTML_HELP_COMPILER
Found CPack generators: DEB
The following subsystems will be built:
common
octree
kdtree
search
sample_consensus
filters
io
2d
features
registration
ml
recognition
keypoints
tracking
geometry
visualization
outofcore
stereo
gpu_containers
gpu_utils
gpu_octree
gpu_kinfu_large_scale
gpu_features
gpu_kinfu
gpu_segmentation
segmentation
surface
tools
people
The following subsystems will not be built:
gpu_tracking: Disabled by default.
gpu_surface: Disabled by default.
gpu_people: Disabled by default.
simulation: Disabled by default.
examples: Code examples are disabled by default.
global_tests: No reason
apps: No reason
Configuring done
Generating done
9. make -j${nproc}
