详细的PCL安装过程在之前的文章之中有过记录。

但是我一直忽略了一个问题，导致安装过程之中一直出现问题。

在编译PCL 源码的过程如下

cd pcl
mkdir build & cd build
cmake  -D CMAKE_BUILD_TYPE=None  -D BUILD_GPU=ON  -D BUILD_apps=ON  -D BUILD_examples=ON ..   
make
sudo make install

其中，第三步的过程主要是为了检查在安装过程之中缺少的，

在提示之中会提示缺少哪些文件，需要将这些环境问题解决才能接着向下编译。

如下是我的检查过程之中遇到的问题

(tensorrt) (base) liyi@liyi:~/下载/yolov5+stereo/pcl/build$ cmake  -D CMAKE_BUILD_TYPE=None  -D BUILD_GPU=ON  -D BUILD_apps=ON  -D BUILD_examples=ON ..  
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 9.3.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Performing Test LIBATOMIC_NOT_NEEDED
-- Performing Test LIBATOMIC_NOT_NEEDED - Failed
-- Could NOT find ClangFormat (missing: ClangFormat_EXECUTABLE ClangFormat_VERSION) (Required is at least version "10")
-- Performing Test HAVE_MARCH
-- Performing Test HAVE_MARCH - Success
-- Performing Test HAVE_MM_MALLOC
-- Performing Test HAVE_MM_MALLOC - Success
-- Performing Test HAVE_POSIX_MEMALIGN
-- Performing Test HAVE_POSIX_MEMALIGN - Success
-- Performing Test HAVE_SSE4_2_EXTENSIONS
-- Performing Test HAVE_SSE4_2_EXTENSIONS - Success
-- Using CPU native flags for SSE optimization: -msse4.2 -mfpmath=sse -march=native
-- Performing Test HAVE_AVX2
-- Performing Test HAVE_AVX2 - Success
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5") found components: C CXX 
-- Found OpenMP, spec date 201511
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE  
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.7
-- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") 
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- Checking for module 'flann>=1.9.1'
--   Found flann, version 1.9.1
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so (Required is at least version "1.9.1") 
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.23
-- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Found OpenNI: /usr/lib/libOpenNI.so;libusb::libusb (found version "1.5.4.0") 
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- Found OpenNI2: /usr/lib/libOpenNI2.so;libusb::libusb (found version "2.2.0.33") 
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so;libusb::libusb)
-- Could NOT find Ensenso (missing: ENSENSO_LIBRARIES ENSENSO_INCLUDE_DIRS) 
-- IDS-Imaging Ensenso camera support: not building because Ensenso not found
-- Could NOT find davidSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
-- David Vision Systems SDK support: not building because davidSDK not found
-- Could NOT find DSSDK (missing: DSSDK_LIBRARIES DSSDK_INCLUDE_DIRS) 
-- DepthSense SDK support: not building because DSSDK not found
-- Could NOT find RSSDK (missing: RSSDK_LIBRARIES RSSDK_INCLUDE_DIRS) 
-- RealSense SDK support: not building because RSSDK not found
-- Could NOT find RSSDK2
-- RealSense SDK 2.0 (librealsense) support: not building because RSSDK2 not found
-- Checking for module 'metslib'
--   No package 'metslib' found
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11") 
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37") 
-- Found Qhull: /usr/lib/x86_64-linux-gnu/libqhull_r.so  
-- QHULL found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libqhull_r.so)
-- Found CUDA Toolkit v10.1
-- The CUDA compiler identification is NVIDIA 10.1.105
-- Check for working CUDA compiler: /usr/local/cuda-10.1/bin/nvcc
-- Check for working CUDA compiler: /usr/local/cuda-10.1/bin/nvcc -- works
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- CMAKE_CUDA_FLAGS:  -gencode arch=compute_75,code=compute_75
-- VTK version: 8.2.0
-- VTK rendering backend: OpenGL2
-- VTK Qt support: YES
-- VTK include: /usr/local/include/vtk-8.2;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include
-- VTK libs: vtksys;vtkCommonCore;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonDataModel;vtkCommonColor;vtkCommonExecutionModel;vtkCommonComputationalGeometry;vtkFiltersCore;vtkFiltersGeneral;vtkImagingCore;vtkImagingFourier;vtkFiltersStatistics;vtkFiltersExtraction;vtkInfovisCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingCore;vtkzlib;vtkfreetype;vtkRenderingFreeType;vtkRenderingContext2D;vtkChartsCore;vtkDICOMParser;vtkdoubleconversion;vtklz4;vtklzma;vtkIOCore;vtkIOLegacy;vtkexpat;vtkIOXMLParser;vtkDomainsChemistry;vtkglew;vtkRenderingOpenGL2;vtkDomainsChemistryOpenGL2;vtkFiltersModeling;vtkParallelCore;vtkFiltersParallel;vtkParallelMPI;vtkFiltersParallelMPI;vtkDomainsParallelChemistry;vtkIOXML;vtkFiltersAMR;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkImagingSources;vtkFiltersHybrid;vtkFiltersHyperTree;vtkImagingGeneral;vtkFiltersImaging;vtkFiltersParallelDIY2;vtkFiltersParallelFlowPaths;vtkFiltersParallelGeometry;vtkFiltersParallelImaging;vtkFiltersParallelStatistics;verdict;vtkFiltersVerdict;vtkFiltersParallelVerdict;vtkFiltersPoints;vtkFiltersProgrammable;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersTopology;vtkInteractionStyle;vtkGUISupportQt;vtksqlite;vtkIOSQL;vtkGUISupportQtSQL;vtkmetaio;vtkjpeg;vtkpng;vtktiff;vtkIOImage;vtkImagingHybrid;vtkInfovisLayout;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkInteractionWidgets;vtkViewsCore;vtklibproj;vtkGeovisCore;vtkhdf5_src;vtkhdf5_hl_src;vtkIOAMR;vtkIOAsynchronous;vtkpugixml;vtkIOCityGML;vtkIOEnSight;vtknetcdf;vtkexodusII;vtkIOExodus;vtkgl2ps;vtkRenderingGL2PSOpenGL2;vtkIOExport;vtkIOExportOpenGL2;vtklibharu;vtkIOExportPDF;vtkIOGeometry;vtkIOImport;vtklibxml2;vtkIOInfovis;vtkIOLSDyna;vtkIOMINC;vtkIOMPIImage;vtkIONetCDF;vtkjsoncpp;vtkIOParallel;vtkIOMPIParallel;vtkogg;vtktheora;vtkIOMovie;vtkIOPLY;vtkIOParallelNetCDF;vtkIOParallelXML;vtkIOSegY;vtkIOTecplotTable;vtkIOVeraOut;vtkIOVideo;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkRenderingContextOpenGL2;vtkRenderingImage;vtkRenderingLOD;vtkRenderingLabel;vtkRenderingQt;vtkRenderingVolumeOpenGL2;vtkViewsContext2D;vtkViewsInfovis;vtkViewsGeovis;vtkViewsQt
-- Qt version: 5.9.9
-- Could NOT find Pcap (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS) 
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.65.0") found components: filesystem date_time iostreams system 
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- Found GLEW: /usr/include  
-- DOXYGEN_FOUND 
-- HTML_HELP_COMPILER 
-- Found CPack generators: DEB
-- PCL build with following flags:
--  -Wabi=11 -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion -msse4.2 -mfpmath=sse -march=native -mavx2 -fopenmp 
-- The following subsystems will be built:
--   common
--   kdtree
--   octree
--   search
--   sample_consensus
--   filters
--   2d
--   geometry
--   io
--   features
--   ml
--   segmentation
--   visualization
--   surface
--   registration
--   keypoints
--   tracking
--   recognition
--   stereo
--   apps
       not building: 
       |_ 3d_rec_framework: Disabled by default
       |_ cloud_composer: No reason provided
       |_ in_hand_scanner: Disabled by default
       |_ modeler: No reason provided
       |_ point_cloud_editor: Disabled by default
--   outofcore
--   examples
--   gpu_containers
--   gpu_utils
--   gpu_octree
--   gpu_features
--   gpu_kinfu
       building: 
       |_ tools
--   gpu_kinfu_large_scale
       building: 
       |_ tools
--   gpu_segmentation
--   people
--   tools
-- The following subsystems will not be built:
--   benchmarks: Disabled by default
--   gpu_people: Disabled by default.
--   gpu_surface: Disabled by default.
--   gpu_tracking: Disabled by default.
--   simulation: Disabled by default.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/liyi/下载/yolov5+stereo/pcl/build

问题一

Could NOT find ClangFormat (missing: ClangFormat_EXECUTABLE ClangFormat_VERSION) (Required is at least version "10")

解决方法

sudo apt-get install llvm
sudo apt-get install clang

问题二

Could NOT find Ensenso (missing: ENSENSO_LIBRARIES ENSENSO_INCLUDE_DIRS)

解决方法如下

下载openni1.x版本

直接去github上搜索openni然后选择自己需要的版本下载就可以了。