Ubuntu下安装PCL点云库经验分享

内容简介
安装ubuntu
VMware全屏下不完全显示
换国内镜像源
安装VTK
- 问题一
- 问题二
安装PCL
配置vscode
- c_cpp_properties.json
- launch.json
- tasks.json
CMake编译
xshell连接ubuntu
总结

内容简介

本文主要分享我在Ubuntu下安装PCL点云库的经验，这里我用的ubuntu是22.04版本，依赖库基本都下载的新的，VTK版本是8.2（建议不要使用更新版本），PCL版本是1.12.1。

安装ubuntu

这里建议安装虚拟机，可以参照ubuntu20.04安装教程进行安装，需要注意的是安装时候要分配足够的磁盘空间，因为如果后面扩展磁盘空间的话会比较麻烦，扩展硬盘空间可以参照扩展磁盘进行操作，建议不要走到这一步。

VMware全屏下不完全显示

这里参考VMware虚拟机不能全屏的解决办法进行操作，也就是将设置中的分辨率改一下。

换国内镜像源

有了ubuntu之后首先要做的就是换上国内的镜像源，这里可以参照Ubuntu换源的两种方法进行操作，这样能使我们的下载速度得到明显提升。

安装VTK

这里参照Ubuntu18安装VTK8.2进行操作，但是make时候出现了问题。

问题一

[ 87%] Linking C shared library ../../../lib/libvtkexodusII-8.2.so
/usr/bin/ld: CMakeFiles/vtkexodusII.dir/src/ex_open_par.c.o:/home/littlez/下载/Software/VTK-8.2.0/ThirdParty/exodusII/vtkexodusII/src/ex_open_par.c:477: multiple definition of `exodus_unused_symbol_dummy_1'; CMakeFiles/vtkexodusII.dir/src/ex_create_par.c.o:/home/littlez/下载/Software/VTK-8.2.0/ThirdParty/exodusII/vtkexodusII/src/ex_create_par.c:617: first defined here
collect2: error: ld returned 1 exit status
make[2]: *** [ThirdParty/exodusII/vtkexodusII/CMakeFiles/vtkexodusII.dir/build.make:4436：lib/libvtkexodusII-8.2.so.1] 错误 1
make[1]: *** [CMakeFiles/Makefile2:5836：ThirdParty/exodusII/vtkexodusII/CMakeFiles/vtkexodusII.dir/all] 错误 2
make: *** [Makefile:136：all] 错误 2

可以看到这是multiple definition of ‘exodus_unused_symbol_dummy_1’，处理办法也是简单粗暴，找到其中一个定义，然后注释掉。

问题二

[ 99%] Building CXX object Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtLabelRenderStrategy.cxx.o
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx: In member function ‘virtual void vtkQtLabelRenderStrategy::ComputeLabelBounds(vtkTextProperty*, vtkUnicodeString, double*)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx:229:18: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined229 |     QPainterPath path;|                  ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx: In member function ‘virtual void vtkQtLabelRenderStrategy::RenderLabel(int*, vtkTextProperty*, vtkUnicodeString, int)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx:331:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined331 |   QPainterPath path;|                ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx: In member function ‘virtual void vtkQtLabelRenderStrategy::RenderLabel(int*, vtkTextProperty*, vtkUnicodeString)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtLabelRenderStrategy.cxx:442:18: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined442 |     QPainterPath path;|                  ^~~~
make[2]: *** [Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/build.make:104：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtLabelRenderStrategy.cxx.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:7066：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/all] 错误 2
make: *** [Makefile:136：all] 错误 2

以及

[ 99%] Building CXX object Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtStringToImage.cxx.o
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx: In member function ‘virtual vtkVector2i vtkQtStringToImage::GetBounds(vtkTextProperty*, const vtkUnicodeString&, int)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx:109:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined109 |   QPainterPath path;|                ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx: In member function ‘virtual vtkVector2i vtkQtStringToImage::GetBounds(vtkTextProperty*, const vtkStdString&, int)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx:140:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined140 |   QPainterPath path;|                ^~~~
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx: In member function ‘virtual int vtkQtStringToImage::RenderString(vtkTextProperty*, const vtkUnicodeString&, int, vtkImageData*, int*)’:
/home/littlez/下载/Software/VTK-8.2.0/Rendering/Qt/vtkQtStringToImage.cxx:187:16: error: aggregate ‘QPainterPath path’ has incomplete type and cannot be defined187 |   QPainterPath path;|                ^~~~
make[2]: *** [Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/build.make:118：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/vtkQtStringToImage.cxx.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:7066：Rendering/Qt/CMakeFiles/vtkRenderingQt.dir/all] 错误 2
make: *** [Makefile:136：all] 错误 2

这里就是aggregate ‘QPainterPath path’ has incomplete type and cannot be defined 处理办法也是简单地在对应文件中加入

#includ <QPainterPath>

这样算是能完成编译，后续如有问题还会更新。

安装PCL

接下来要做的就是安装PCL了，这里可以参照ubuntu18.04 安装pcl（详细教程）进行操作，目前还没遇到问题，能完成下载，后续使用一段时间后再来分享。这里有条命令分享一下：

sudo apt-cache search libxxx #查看libxxx可供下载的版本

在编译VTK和PCL时我们一般会用多线程同时编译以节省时间，也就是

make -j2 #这里的2就代表编译所用的线程数

然而这也会带来很大的内存开销，当内存不足时，make就会闪退，以我的实际经历来说，给了虚拟机8G内存，开两个线程make，结果还是会内存爆掉，只开一个线程才能正常make过去。

配置vscode

配置C++环境可以参照vscode环境中配置C++环境，配置PCL则可以参照vscode配置OpenCV+PCL进行操作，但是由于PCL为1.12.1版本，VTK为8.2版本，这里在配置时c_cpp_properties.json、launch.json和tasks.json都需要一定的修改，这里我是按如下进行设置。

注意：这里的配置还不完善，仅供参考。

c_cpp_properties.json

{"configurations": [{"name": "Linux","includePath": ["${workspaceFolder}/**","${workspaceFolder}","/usr/local/include/pcl-1.12","/usr/include","/usr/include/vtk-7.1","/usr/include/libqhull","/usr/include/flann","/usr/include/boost","/usr/include/eigen3","/usr/include/eigen3/Eigen/","/usr/include/x86_64-linux-gnu/sys"],"defines":[],"browse": {"path": ["/usr/include","/usr/local/include/pcl-1.12"]},"compilerPath": "/usr/bin/gcc","cStandard": "gnu11","cppStandard": "gnu++14","intelliSenseMode": "clang-x64"// "cStandard": "gnu17",// "cppStandard": "gnu++17",// "intelliSenseMode": "linux-gcc-x64"}],"version": 4
}

launch.json

{// Use IntelliSense to learn about possible attributes.// Hover to view descriptions of existing attributes.// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387"version": "0.2.0","configurations": [{"name": "(gdb) 启动","type": "cppdbg","request": "launch",// "program": "${workspaceFolder}/${fileBasenameNoExtension}.out","program": "${workspaceFolder}/main.out","miDebuggerPath": "/usr/bin/gdb","preLaunchTask": "build","args": [],"stopAtEntry": false,"cwd": "${workspaceFolder}","environment": [],"externalConsole": true,"MIMode": "gdb","setupCommands": [{"description": "为 gdb 启用整齐打印","text": "-enable-pretty-printing","ignoreFailures": true}]}]
}

tasks.json

{// See https://go.microsoft.com/fwlink/?LinkId=733558// for the documentation about the tasks.json format"version": "2.0.0","tasks": [{"label": "build","type": "shell","command":"g++","args": ["-g","${workspaceFolder}/${fileBasename}","-I","/usr/local/include/pcl-1.12","-I","/usr/include/eigen3","-I","/usr/include/vtk-7.1","-I","/usr/include/libqhull","-I","/usr/include/flann","-I","/usr/include/boost","-L","/usr/local/lib","-l","pcl_io","-l","pcl_visualization","-l","pcl_common",// "-l","vtkFiltering",// "-l","vtkCommon",// "-l","vtkRendering",// "-l","vtkGraphics","-l","vtkFiltersCore-8.2","-l","vtkCommonCore-8.2","-l","vtkRenderingCore-8.2","-l","vtkGeovisCore-8.2","-I","/usr/include/x86_64-linux-gnu","-l","boost_system","-o","${workspaceFolder}/main.out"],"group":{"kind": "build","isDefault": true}}// ,// {//     "label": "build",//     "type": "shell",//     "command": "g++",//     "args": ["-g","${file}","-o","${fileBasenameNoExtension}.out"]// }]
}

这里尤其需要注意的是tasks.json文件，本质上就是把命令行要输入的命令写在这个文件里了，有兴趣的朋友可以参考一下Linux下G++编译。

用以上文件内容替换其他配置教程中对应文件中的内容，再按照教程里操作步骤进行操作即可将代码编译通过，生成可执行程序。

CMake编译

相比配置VScode来编译代码，用cmake来编译可能才是更多人的选择。可以参考PCL配置，这里也简单介绍一下。

就是先在工程的文件夹中新建一个CMakeLists.txt，内容根据自己的需要来填，如：

cmake_minimum_required(VERSION 3.0)
project(testpcl)find_package(PCL 1.2 REQUIRED)include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(testpcl testpcl.cpp)
target_link_libraries (testpcl ${PCL_LIBRARIES})
install(TARGETS testpcl RUNTIME DESTINATION bin)

然后在终端中依次输入：

mkdir build
cd build
cmake ..
make
./testpcl #注意这里要根据实际填写

这样能完成编译并执行生成的可执行程序，这里在执行可执行文件的时候还遇到了一个问题。

littlez@littlez-virtual-machine:~/Learn/build$ ./testpcl
./testpcl: error while loading shared libraries: libvtkfreetype-8.2.so.1: cannot open shared object file: No such file or directory

这里参照解决可执行文件运行时报错及export LD_LIBRARY_PATH 的使用里的内容，在 ~ 路径下的 .bashrc 文件中加入下面语句

export LD_LIBRARY_PATH=LD_LIBRARY_PATH:/usr/local/lib

这样就能正常执行可执行文件了，以下是测试结果。

xshell连接ubuntu

为解决主机与虚拟机之间文件传输问题，这里我们使用xshell和xftp来实现，具体流程可以参照xshell连接ubuntu。

总结

泪目了，家人们！

这里要说的就是，make时候心中默念“佛祖保佑”，这样可以给cmake加buff（不是）。遇到困难不要怕，微笑地面对她！如果真的遇到问题，要相信我所走过的坑前人一定都走过，细心一点，看是报了什么错，然后去搜答案抄作业。如果真遇到了前人没踩过的坑，那就勇于做第一个踩坑人吧~~~

以上内容希望能给各位提供一定参考，最后祝各位都能successful ！！！

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