ubuntu18.04安装PCL1.14

xiachong272025-09-14 0:31

简化版说明

1. 安装依赖库：

(1) boost1.84 （https://www.boost.org/releases/1.84.0/）

cpp 复制代码

tar vxf boost_xxx.tar.gz
./bootstrap.sh --prefix=/usr/local/
./b2
sudo ./b2 install

(2) vtk9.1.0 （https://vtk.org/files/release/9.1/）

cpp 复制代码

创建build

在build文件夹执行cmake  ../

make -j4

sudo make install

编译时在CMakeLists里注释掉下面几行，否则会提示找不到./clang-tidy

cpp 复制代码

# Some generated code has some warnings that we need to exclude for now.
#configure_file(
 # "${VTK_SOURCE_DIR}/.clang-tidy"
  #"${VTK_BINARY_DIR}/.clang-tidy"
  #COPYONLY)

2. 安装pcl1.14 (https://github.com/PointCloudLibrary/pcl)

git clone --recursive https://github.com/PointCloudLibrary/pcl.git

注意安装vtk9.3.0版本在使用pcl的viewer显示时会报错:

cpp 复制代码

malloc.c:2401: sysmalloc: Assertion `(old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0)' failed.