Install PCL and VTK under the background of ROS installation, and solve VTK and PCL_ ROS conflict problem

Antecedents feed ：

I also need pcl_ros and PCL, Among them PCL_ROS Yes ROS after , Fill two bags ：pcl-conversions pcl_ros, then PCL Install separately .
If you use the classic method Ubuntu18.04 install PCL（ Detailed tutorial ） install PCL Words , It can lead to vtk Package conflict problem , namely PCL Need a certain version VTK To compile through , and pcl_ros Need another version VTK Can pass , Thus, the problem of conflict arises , Then the installation VTK、PCL and VTK Version selection 、PCL Already exist ROS Installation issues under , In the process, a series of bug.
This paper aims to solve such a problem ： In the installation ROS Under the premise of , Install the appropriate version VTK and PCL.

1.ROS INTSLL

Install ROS-Melodic on ubuntu18.04
After installation, it needs to be pcl_ros Fill two bags ：

 sudo apt install ros-melodic-pcl-conversions ros-melodic-pcl-ros

2.PCL INSTALL

background ： Already installed ROS In the context of PCL
Version adaptation ：PCL 1.8.1 + VTK 7.1.1（ important ： The version must be adapted ）

One 、 install PCL rely on

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 libflann1.9 libflann-dev # ubuntu18 Corresponding 1.9
sudo apt-get install libeigen3-dev #  You need to download the correct version and install it 
sudo apt-get install libboost-all-dev
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 libopenni-dev
sudo apt-get install libopenni2-dev
sudo apt-get install openjdk-8-jdk openjdk-8-jre

Two 、VTK install

1. First installation VTK Dependence X11

#  First installation VTK Dependence ：X11,OpenGL;
# X11
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
# OpenGL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev

2. install VTK-7.1.1.
Download from the official website VTK7.1.1
decompression

sudo tar -xzvf VTK-7.1.1.tar.gz

Open terminal window .

cmake-gui . #  open cmake Graphical interface of 

Report errors 1：
open cmake-gui after , I found my cmake-gui yes 3.10 edition , And I installed cmake yes 3.20 edition , therefore cmake and cmake-gui Is not suitable , Will report a mistake
resolvent ： stay bashrc Version specified in

code ~/.bashrc
export CMAKE_ROOT=/usr/local/share/cmake-3.21

Report errors 2：
stay configure VTK-7.1.1 when , Tips ： Required qt4; Be similar to “Found unsuitable Qt version “” from NOTFOUND, this code requires Qt 4.x” Such a hint .

Solution ：

install qt4： Execute in terminal

sudo apt-get install qt4-default

If you still report an error
stay cmake-gui Switch to qt edition

Report errors 3：

Add the installation prefix of "Qt5X11Extras" to CMAKE_PREFIX_PATH or set   "Qt5X11Extras_DIR" to a directory containing one of the above files.

solve ：

sudo apt install libqt5x11extras5-dev

==========================================================================
cmake-gui Configure reference blog posts ：PCL1.12+VTK7.1.1 && Ubuntu20.04.3+VSCode The latest version of the official website 2022.01
stay cmake-gui in ：

To configure where is the source code by VTK-7.1.1 In the directory ;（ stay VTK-7.1.1 Create a new build Folder ）;
To configure where to build the binaries by VTK-7.1.1 Under the build Folder ;
Click on “Configure”,（ use “Unix Makefiles” Can ）; When the configuration is complete , Show “Configuring done”.
Check “VTK-Group-Qt”, Click again “Configure”; When the configuration is complete , Show “Configuring done”;
Click on “Generate”; Show “Generating done”, stay build Generate project files under folder .

Switch to... In the terminal VTK-7.1.1 Install under directory build Folder , Input ：

make -j8 #  If 8 If the nuclear processor is still anxious to see the result , Sure ：make -j16 
sudo make install

vtk installation is complete .

==========================================================================

3. install PCL1.8.1
PCL Official website Historical version selection

# Download the specified version of pcl Source code 
# Or in the latest version pcl Select the specified version of the source code , This paper adopts this method 
git clone https://github.com/PointCloudLibrary/pcl.git 
git checkout pcl-1.8.1
cd /path/to/your/pcl 
mkdir release 
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \       -DBUILD_GPU=OFF -DBUILD_apps=ON -DBUILD_examples=ON \       -DCMAKE_INSTALL_PREFIX=/usr /path/to/your/pcl
make
sudo make install

Finish loading PCL Then copy the library file to /usr/lib/x86_64-linux-gnu/

sudo cp /usr/lib/libpcl* /usr/lib/x86_64-linux-gnu/

PCL installation is complete
4. PCL test

stay pcl_test.cpp To add the following

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int
  main ()
{
    
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 1;
  cloud.is_dense = false;
  cloud.resize (cloud.width * cloud.height);

  for (auto& point: cloud)
  {
    
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
  std::cerr << "Saved " << cloud.size () << " data points to test_pcd.pcd." << std::endl;

  for (const auto& point: cloud)
    std::cerr << " " << point.x << " " << point.y << " " << point.z << std::endl;

  return (0);
}

Copy the following to CMakeLists.txt

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(pcl_test)
find_package(PCL 1.3 REQUIRED COMPONENTS common io)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcl_test src/pcl_test.cpp)
target_link_libraries(pcl_test ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})

Running results ：

[email protected]: ~/project/robot/test_pro/build$ ./pcl_test 
Saved 5 data points to test_pcd.pcd.
    0.352222 -0.151883 -0.106395
    -0.397406 -0.473106 0.292602
    -0.731898 0.667105 0.441304
    -0.734766 0.854581 -0.0361733
    -0.4607 -0.277468 -0.916762

3.uninstall PCL

cd /path/to/your/pcl 
cd release
sudo make uninstall

perhaps

sudo rm -r /usr/include/pcl-1.12 /usr/share/pcl-1.12 /usr/bin/pcl* /usr/lib/libpcl*
sudo rm -r /usr/lib/x86_64-linux-gnu/libpcl*

thank

PCL1.12+VTK7.1.1 && Ubuntu20.04.3+VSCode( The latest version of the official website 2022.01)
Ubuntu18.04 install PCL（ Detailed tutorial ）
UBUNTu16.04 Compilation and installation PCL-1.8 and VTK-7.1
see pcl edition linux,Ubuntu16 Installation on PCL
Ubuntu16.04 Next pcl Kuhe vtk Installation and compilation of
ubuntu16.04 install pcl1.8.1（ Clear and easy to understand , Close test effectively , Including the installation of ros Then install pcl1.8.1 course ）
PLC Installation pit summary （Ubuntu 16.4+PCL1.8.1+VTK7.1+Qt5.9.9)
ubuntu 16 install ETH Elevation map ROS software package
Ubuntu18.04 install ROS when , Encounters an error “unmet dependencies. Unable to correct problems, you have held broken packages