Ubuntu 22.04.2 LTS点云PCL库的安装

先简单说明一下我的病情，我的Ubuntu版本是22.04，在没有安装点云之前就已经安装的QT5和Anaconda的运行环境。

开始的时候我是通过直接apt安装PCL库的，但是有点问题，跑网上给的例程代码的时候，生成点云的视图时候，就是闪一下，然后报“Segmentation fault (core dumped)”错误，具体原因我也不清楚，不知道为什么，就是不能可视化，其他的似乎都没有问题。

//安装
sudo apt-get update
sudo apt-get install libpcl-dev pcl-tools
sudo apt-get install ros-kinetic-pcl-conversions
//卸载
sudo apt-get --purge remove libpcl-dev

VTK9.2.6库的编译

先说说编译VTK9.2.6遇到的问题，下面是编译过程中遇到的问题，编译的过程可以网上大致都有，我直接列出我遇到的错误：

CMake Error at /usr/local/share/cmake-3.25/Modules/CMakeDetermineCompilerId.cmake:739 (message):
Compiling the CUDA compiler identification source file
"CMakeCUDACompilerId.cu" failed.
Compiler: /usr/local/cuda/bin/nvcc
Build flags:
Id flags: --keep;--keep-dir;tmp -v
The output was:
#$ _NVVM_BRANCH_=nvvm
#$ _SPACE_=
#$ _CUDART_=cudart
#$ _HERE_=/usr/local/cuda/bin
#$ _THERE_=/usr/local/cuda/bin
#$ _TARGET_SIZE_=
#$ _TARGET_DIR_=
#$ _TARGET_DIR_=targets/x86_-linux
#$ TOP=/usr/local/cuda/bin/..
#$ NVVMIR_LIBRARY_DIR=/usr/local/cuda/bin/../nvvm/libdevice
#$
LD_LIBRARY_PATH=/usr/local/cuda/bin/../lib:/usr/local/cuda/lib:/usr/local/cuda-11.4/lib::/usr/local/arm_gcc/gcc-linaro-7.5.0-2019.12-x86__arm-linux-gnueabihf/lib
#$
PATH=/usr/local/cuda/bin/../nvvm/bin:/usr/local/cuda/bin:/home/eagle/anaconda3/bin:/usr/local/cuda/bin:/opt/Qt5.12.8/5.12.8/gcc_:/opt/Qt5.12.8/Tools/QtCreator/bin:/home/eagle/.local/bin:/usr/local/cuda-11.4/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/usr/local/arm_gcc/gcc-linaro-7.5.0-2019.12-x86__arm-linux-gnueabihf/bin
#$ INCLUDES="-I/usr/local/cuda/bin/../targets/x86_-linux/include"
#$ LIBRARIES= "-L/usr/local/cuda/bin/../targets/x86_-linux/lib/stubs"
"-L/usr/local/cuda/bin/../targets/x86_-linux/lib"
#$ CUDAFE_FLAGS=
#$ PTXAS_FLAGS=
#$ rm tmp/a_dlink.reg.c
#$ gcc -D__CUDA_ARCH__=520 -E -x c++ -DCUDA_DOUBLE_MATH_FUNCTIONS
-D__CUDACC__ -D__NVCC__
"-I/usr/local/cuda/bin/../targets/x86_-linux/include"
-D__CUDACC_VER_MAJOR__=11 -D__CUDACC_VER_MINOR__=4
-D__CUDACC_VER_BUILD__=48 -D__CUDA_API_VER_MAJOR__=11
-D__CUDA_API_VER_MINOR__=4 -include "cuda_runtime.h" -m
"CMakeCUDACompilerId.cu" -o "tmp/CMakeCUDACompilerId.cpp1.ii"
In file included from
/usr/local/cuda/bin/../targets/x86_-linux/include/cuda_runtime.h:83,
from <command-line>:
/usr/local/cuda/bin/../targets/x86_-linux/include/crt/host_config.h:139:2:
error: #error -- unsupported GNU version! gcc versions later than 10 are
not supported! The nvcc flag '-allow-unsupported-compiler' can be used to
override this version check; however, using an unsupported host compiler
may cause compilation failure or incorrect run time execution. Use at your
own risk.
139 | #error -- unsupported GNU version! gcc versions later than 10 are not supported! The nvcc flag '-allow-unsupported-compiler' can be used to override this version check; however, using an unsupported host compiler may cause compilation failure or incorrect run time execution. Use at your own risk.
| ^~~~~
# --error 0x1 --
Call Stack (most recent call first):
/usr/local/share/cmake-3.25/Modules/CMakeDetermineCompilerId.cmake:6 (CMAKE_DETERMINE_COMPILER_ID_BUILD)
/usr/local/share/cmake-3.25/Modules/CMakeDetermineCompilerId.cmake:48 (__determine_compiler_id_test)
/usr/local/share/cmake-3.25/Modules/CMakeDetermineCUDACompiler.cmake:307 (CMAKE_DETERMINE_COMPILER_ID)
cmake/pcl_find_cuda.cmake:13 (enable_language)
CMakeLists.txt:363 (include)

这个问题实在没有不懂，最后还是让chatGPT解决了(chatGPT牛批)。
该错误显示您使用的gcc版本高于10，而CUDA不支持高于10的gcc版本。您可以尝试使用

具体解决方法如下：

sudo apt-get install gcc-10 g++-10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 100 --slave /usr/bin/g++ g++ /usr/bin/g++-10

最后编译VTK库安装，就可以啦。

PCL-1.12.1库的编译

这里需要说明一下，最好对cmake进行如下配置，尤其是GPU这个选项（表示启用计算机的GPU上加速算法编译），否则性能差一点的电脑编着编就寄了…(比如我的电脑)。

cd pcl-pcl-1.12.1/
# 创建目录
mkdir release
# 进入目录
cd release
# 配置cmake
cmake -DCMAKE_BUILD_TYPE=None \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DBUILD_GPU=ON \
-DBUILD_apps=ON \
-DBUILD_examples=ON ..
# 进行编译 4为内核数 按自己的cpu内核填写 不写数字默认使用全部核心编译
make -j4
sudo make install

最后看一下效果图

接下就可以使用PCL点云库啦！