Ubuntu 20.04.05安装PCL-1.12.0

1、安装QT-5.9.9

链接1: Ubuntu20.04安装、配置、使用、卸载QT5.9.9以及第一个编写QT程序.
或者
链接2: 在ubuntu用命令安装和卸载qt4、qt5(亲测有效).

2、安装VTK-7.1.1+PCL-1.12.0

链接1: ubuntu20.04下安装pcl.
或者
链接2: PCL1.12+VTK7.1.1 && Ubuntu20.04.3+VSCode(官网最新版2022.01).

VTK安装成功测试：https://www.jb51.cc/server/4186930.html

3、cmake-gui编译VTK遇到的问题

（1）CMP0022（Warning）

问题描述：CMake Deprecation Warning at ThirdParty/libproj4/vtklibproj4/cmake/policies.cmake:2 (cmake_policy):> The OLD behavior for policy CMP0022 will be removed from a future version of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): ThirdParty/libproj4/vtklibproj4/CMakeLists.txt:43 (include)
解决方法：/VTK-7.1.1/ThirdParty/libproj4/vtklibproj4/cmake/policies.cmake对应与Policy CMP0022修改，如下。

if (CMAKE_MAJOR_VERSION GREATER 2)
    cmake_policy(SET CMP0022 NEW) # interface link libraries
    cmake_policy(SET CMP0042 NEW) # osx rpath
    cmake_policy(SET CMP0011 NEW) # policy setting
endif()
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（2）CMP0072（Warning）

问题描述：CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message): Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when available. Run “cmake --help-policy CMP0072” for policy details. Use the cmake_policy command to set the policy and suppress this warning.
FindOpenGL found both a legacy GL library:
OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so
and GLVND libraries for OpenGL and GLX:
OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so
OpenGL_GL_PREFERENCE has not been set to “GLVND” or “LEGACY”, so for
compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first): CMake/vtkOpenGL.cmake:77 (find_package)
Rendering/VolumeOpenGL2/CMakeLists.txt:67 (include)
This warning is for project developers. Use -Wno-dev to suppress it.
解决方法： 在/VTK-7.1.1/CMakeLists.txt文件中加入下面内容。

if (POLICY CMP0072)
	set(OpenGL_GL_PREFERENCE LEGACY)
endif()
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如下图所示。

4、cmake编译PCL遇到的问题

（1）ClangFormat

问题描述：Could NOT find ClangFormat (missing: ClangFormat_EXECUTABLE ClangFormat_VERSION) (Required is at least version “10”)
解决方法：sudo apt-get install clang-format-10

（2）metslib

问题描述：Checking for module ‘metslib’ – No package ‘metslib’ found
解决方法：下载并安装metslib包，下载链接： metslib-0.5.3.，解压并进入metslib-0.5.3文件夹，然后执行
sudo sh ./configure
sudo make
sudo make install

（3）PNG

问题描述：Could NOT find PNG (missing: PNG_LIBRARY PNG_PNG_INCLUDE_DIR)
解决方法：sudo apt-get install libpng-dev

（4）PCAP

问题描述：Could NOT find Pcap (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)
解决方法：安装pcap包，依次执行
git clone https://github.com/the-tcpdump-group/libpcap
cd libpcap
./configure # 可能会遇到 configure: error: Neither flex nor lex was found. 见下“注”
make -j8
sudo make install

注：如果在./configure时出现 configure: error: Neither flex nor lex was found.
运行：sudo apt-get install flex bison

（5）GLEN

问题描述：Could NOT find GLEW (missing: GLEW_INCLUDE_DIR GLEW_LIBRARY)
解决方法：sudo apt install libglew-dev