Ubuntu16.04安装pcl1.8.1与pcl1.7共存

我的电脑安装了ros,有自带的pcl1.7,目前需要安装安装pcl1.8
pcl1.8.1链接：https://github.com/PointCloudLibrary/pcl/releases

安装vtk7.1.1

vtk下载：https://vtk.org/download/
vtk下载完解压、安装、编译：在build目录下

    mkdir build && cd build
    cmake ..
    sudo make
    sudo make install

安装PCL1.8.1

1.安装一些依赖项

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui 
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
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 libvtk5.10-qt4 libvtk5.10 libvtk5-dev//安装vtk7.1.1 这句不用执行

sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

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

2.在usr/local下新建文件

sudo mkdir -p /usr/local/pcl1.8.1

解压下载的pcl1.8压缩包，新建build文件夹进行编译

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local/pcl1.8.1 -D CUDA_GENERATION=Kepler -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=OFF -D WITH_OPENGL=ON -D BUILD_TIFF=ON ..

make -j8

sudo make install

3.测试
在解压的文件目录下建立一个新文件夹pcltest,新文件夹pcltest文件夹里新建CMakeLists.txt，pcl_test.cpp两个文本文档，内容如下，
CMakeLists.txt

cmake_minimum_required(VERSION 2.6)
project(pcl_test)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcl_test pcl_test.cpp)

target_link_libraries (pcl_test ${PCL_LIBRARIES})

install(TARGETS pcl_test RUNTIME DESTINATION bin)

pcl_test.cpp

#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>


int main(int argc, char **argv) {
    std::cout << "Test PCL !!!" << std::endl;
    
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
      for (float angle(0.0); angle <= 360.0; angle += 5.0)
      {
	pcl::PointXYZRGB point;
	point.x = 0.5 * cosf (pcl::deg2rad(angle));
	point.y = sinf (pcl::deg2rad(angle));
	point.z = z;
	uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
		static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
	point.rgb = *reinterpret_cast<float*>(&rgb);
	point_cloud_ptr->points.push_back (point);
      }
      if (z < 0.0)
      {
	r -= 12;
	g += 12;
      }
      else
      {
	g -= 12;
	b += 12;
      }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;
    
    pcl::visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}

编译测试
pcltest文件夹里，打开新终端

mkdir build && cd build
cmake ..
make -j8
./pcl_test

拖动鼠标滑动上下左右后，过程如图所示

pcl1.7参考博客: https://blog.csdn.net/hailanglin/article/details/102901653