Installing and Running Point Cloud Library on Ubuntu

Standard

pcl
This article describes the steps to install the Point Cloud Library (PCL) in source and build it.

Ready to upgrade to Ubuntu 16.04 LTS?  You might find my more recent article on how to build PCL to Ubuntu 16.04.  

If you are interested in porting PCL to Raspberry Pi 3 running Ubuntu MATE (16.04), checkout this post.

Install PCL

To install the latest PCL on Ubuntu, you will need to use git. If you don’t have git installed, you can install it by

sudo apt-get update
sudo apt-get install git

The first command updates the apt-get list of repositories. The second command installs git on your machine. If you have git installed, change directory to a place where you want to store the source code, then proceed to clone the PCL repository and create a symbolic link:

git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk
ln -s pcl-trunk pcl

Now change directory to pcl you will see the PCL source code. Before we proceed with building the PCL libraries, we need to first install some prerequisites.

Install Prerequisites

Compiling PCL require a host of prerequisites, including cmake, git and several other packages. Follow the instructions below to install the prerequisites:

sudo apt-get install g++
sudo apt-get install cmake cmake-gui
sudo apt-get install doxygen  
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
sudo apt-get install libflann1 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk5.8-qt4 libvtk5.8 libvtk5-dev
sudo apt-get install libqhull*
sudo apt-get install libusb-dev
sudo apt-get install libgtest-dev
sudo apt-get install git-core freeglut3-dev pkg-config
sudo apt-get install build-essential libxmu-dev libxi-dev 
sudo apt-get install libusb-1.0-0-dev graphviz mono-complete
sudo apt-get install qt-sdk openjdk-7-jdk openjdk-7-jre

The last apt-get install command may generate a window like below:
MissingPhonon
Answer OK to continue, but you may want to follow the recommendation and install any missing components. For me, I needed a couple of missing components to enable full operation of Phonon:

sudo apt-get install phonon-backend-gstreamer
sudo apt-get install phonon-backend-vlc

Install Kinect Support

To install OpenNI, do:

mkdir ~/kinect
cd ~/kinect
git clone https://github.com/OpenNI/OpenNI.git

And change the branch to unstable:

cd OpenNI
git checkout unstable

Run these lines to install OpenNI:

cd Platform/Linux/CreateRedist/
chmod +x RedistMaker
./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-x64-v1.5.8.5
sudo ./install.sh

Now download another repository to the kinect folder:

cd ~/kinect/
git clone https://github.com/ph4m/SensorKinect.git

And change the branch to unstable

cd SensorKinect
git checkout unstable

And run these lines to install SensorKinect:

cd Platform/Linux/CreateRedist/
chmod +x RedistMaker
./RedistMaker
cd ../Redist/Sensor-Bin-Linux-x64-v5.1.2.1/
chmod +x install.sh
sudo ./install.sh

Note that the command line ./RedistMaker will compile several source files. If there was any error, you will not get a ../Redist folder, and therefore, you won’t be able to go to the next step. Fix the build error first and then rerun ./RedistMaker.

Compile and Install PCL

PCL is compiled using the cmake or cmake-gui utility. Change directory to the PCL source directory and enter the following commands:

mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
make

(Note: For some reason the use of -DCMAKE_BUILD_TYPE=Release will lead to assembler error, but -DCMAKE_BUILD_TYPE=None will build just fine.)

Finally, to install PCL, enter the command:

sudo make install

The library files are installed at /usr/local/lib, and the header files are installed at /usr/local/include/pcl-1.7 (or whatever the version is). It might be a good idea to create a symbolic link referencing the latest version, this way your application does not have to change when the PCL is upgraded to the next version.

Further Reading

(The above article is solely the expressed opinion of the author and does not necessarily reflect the position of his current and past employers)

14 thoughts on “Installing and Running Point Cloud Library on Ubuntu

  1. Ibrahim Shaikh

    I am getting error while installing OpenNI. The errors are following.

    *********************************
    * PrimeSense OpenNI Redist *
    * 2017-08-21 20:12:47 *
    *********************************

    Target: Linux-x64
    Version: 1.5.8.5
    Num of compile jobs: 8

    * Building OpenNI…
    ../../../../../Samples/NiViewer/Device.cpp: In function ‘XnStatus openDeviceFromXmlWithChoice(const char*, xn::EnumerationErrors&)’:
    ../../../../../Samples/NiViewer/Device.cpp:251:22: warning: ignoring return value of ‘int scanf(const char*, …)’, declared with attribute warn_unused_result [-Wunused-result]
    scanf(“%d”, &chosen);
    ^
    /usr/lib/jvm/java-7-openjdk-amd64/jre/lib/rt.jar: error reading zip file
    Exception in thread “main” java.lang.NoClassDefFoundError: sun/net/util/URLUtil
    at sun.misc.URLClassPath.getLoader(URLClassPath.java:352)
    at sun.misc.URLClassPath.getResource(URLClassPath.java:225)
    at java.net.URLClassLoader$1.run(URLClassLoader.java:351)
    at java.net.URLClassLoader$1.run(URLClassLoader.java:348)
    at java.security.AccessController.doPrivileged(Native Method)
    at java.net.URLClassLoader.findClass(URLClassLoader.java:347)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:425)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:412)
    at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:312)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:358)
    at sun.launcher.LauncherHelper.checkAndLoadMain(LauncherHelper.java:482)
    make[1]: *** [../../../Bin/x64-Release/org.openni.jar] Error 1
    make: *** [Wrappers/OpenNI.java] Error 2
    make: *** Waiting for unfinished jobs….
    failed to execute: make -j8 -C /home/user/kinect/OpenNI/Platform/Linux/CreateRedist/../Build > /home/user/kinect/OpenNI/Platform/Linux/CreateRedist/Output/BuildOpenNI.txt
    Building Failed!

    Will you help me regarding this issue.
    Thanks

    • It looks this is the root error:

      /usr/lib/jvm/java-7-openjdk-amd64/jre/lib/rt.jar: error reading zip file.

      I’d start by checking if the file the build is looking for is there.

  2. Ibrahim Shaikh

    Hi,
    I followed the instruction and it successfully compiled but when I am trying vlp_grabber example from this site

    I am not able visualize the point cloud from *.pcap file.
    After doing cmake .. I am getting this.
    shaikh@shaikh-Lenovo-Z580:~/pcl-master/vlp_grabber/build$ cmake ..
    — Boost version: 1.58.0
    — Found the following Boost libraries:
    — system
    — filesystem
    — thread
    — date_time
    — iostreams
    — serialization
    — chrono
    — atomic
    — regex
    — Checking for module ‘libopenni’
    — No package ‘libopenni’ found
    — Checking for module ‘libopenni2’
    — No package ‘libopenni2’ found
    — Could NOT find OpenNI2 (missing: OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
    ** WARNING ** io features related to openni2 will be disabled
    — Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR)
    ** WARNING ** io features related to ensenso will be disabled
    — Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR)
    ** WARNING ** io features related to davidSDK will be disabled
    — Could NOT find DSSDK (missing: _DSSDK_LIBRARIES)
    ** WARNING ** io features related to dssdk will be disabled
    ** WARNING ** io features related to pcap will be disabled
    ** WARNING ** io features related to png will be disabled
    — The imported target “vtkWrapTcl” references the file
    “/usr/bin/vtkWrapTcl”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkWrapTclInit” references the file
    “/usr/bin/vtkWrapTclInit”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkWrapPython” references the file
    “/usr/bin/vtkWrapPython”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkWrapPythonInit” references the file
    “/usr/bin/vtkWrapPythonInit”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkParseJava” references the file
    “/usr/bin/vtkParseJava”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkWrapJava” references the file
    “/usr/bin/vtkWrapJava”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkCommonTCL” references the file
    “/usr/lib/libvtkCommonTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkCommonPythonD” references the file
    “/usr/lib/libvtkCommonPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkCommonJava” references the file
    “/usr/lib/jni/libvtkCommonJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkFilteringTCL” references the file
    “/usr/lib/libvtkFilteringTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkFilteringPythonD” references the file
    “/usr/lib/libvtkFilteringPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkFilteringJava” references the file
    “/usr/lib/jni/libvtkFilteringJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkImagingTCL” references the file
    “/usr/lib/libvtkImagingTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkImagingPythonD” references the file
    “/usr/lib/libvtkImagingPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkImagingJava” references the file
    “/usr/lib/jni/libvtkImagingJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGraphicsTCL” references the file
    “/usr/lib/libvtkGraphicsTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGraphicsPythonD” references the file
    “/usr/lib/libvtkGraphicsPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGraphicsJava” references the file
    “/usr/lib/jni/libvtkGraphicsJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGenericFilteringTCL” references the file
    “/usr/lib/libvtkGenericFilteringTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGenericFilteringPythonD” references the file
    “/usr/lib/libvtkGenericFilteringPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGenericFilteringJava” references the file
    “/usr/lib/jni/libvtkGenericFilteringJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkIOTCL” references the file
    “/usr/lib/libvtkIOTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkIOPythonD” references the file
    “/usr/lib/libvtkIOPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkIOJava” references the file
    “/usr/lib/jni/libvtkIOJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkRenderingTCL” references the file
    “/usr/lib/libvtkRenderingTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkRenderingPythonD” references the file
    “/usr/lib/libvtkRenderingPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkRenderingJava” references the file
    “/usr/lib/jni/libvtkRenderingJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkRenderingPythonTkWidgets” references the file
    “/usr/lib/libvtkRenderingPythonTkWidgets.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkVolumeRenderingTCL” references the file
    “/usr/lib/libvtkVolumeRenderingTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkVolumeRenderingPythonD” references the file
    “/usr/lib/libvtkVolumeRenderingPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkVolumeRenderingJava” references the file
    “/usr/lib/jni/libvtkVolumeRenderingJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkHybridTCL” references the file
    “/usr/lib/libvtkHybridTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkHybridPythonD” references the file
    “/usr/lib/libvtkHybridPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkHybridJava” references the file
    “/usr/lib/jni/libvtkHybridJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkWidgetsTCL” references the file
    “/usr/lib/libvtkWidgetsTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkWidgetsPythonD” references the file
    “/usr/lib/libvtkWidgetsPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkWidgetsJava” references the file
    “/usr/lib/jni/libvtkWidgetsJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkParallelTCL” references the file
    “/usr/lib/libvtkParallelTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkParallelPythonD” references the file
    “/usr/lib/libvtkParallelPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkParallelJava” references the file
    “/usr/lib/jni/libvtkParallelJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkInfovisTCL” references the file
    “/usr/lib/libvtkInfovisTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkInfovisPythonD” references the file
    “/usr/lib/libvtkInfovisPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkInfovisJava” references the file
    “/usr/lib/jni/libvtkInfovisJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGeovisTCL” references the file
    “/usr/lib/libvtkGeovisTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGeovisPythonD” references the file
    “/usr/lib/libvtkGeovisPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkGeovisJava” references the file
    “/usr/lib/jni/libvtkGeovisJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkViewsTCL” references the file
    “/usr/lib/libvtkViewsTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkViewsPythonD” references the file
    “/usr/lib/libvtkViewsPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkViewsJava” references the file
    “/usr/lib/jni/libvtkViewsJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkChartsTCL” references the file
    “/usr/lib/libvtkChartsTCL.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkChartsPythonD” references the file
    “/usr/lib/libvtkChartsPythonD.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkChartsJava” references the file
    “/usr/lib/jni/libvtkChartsJava.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtk” references the file
    “/usr/bin/vtk”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “pvtk” references the file
    “/usr/bin/pvtk”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    — The imported target “vtkPythonCore” references the file
    “/usr/lib/libvtkPythonCore.so.5.10.1”
    but this file does not exist. Possible reasons include:
    * The file was deleted, renamed, or moved to another location.
    * An install or uninstall procedure did not complete successfully.
    * The installation package was faulty and contained
    “/usr/lib/vtk-5.10/VTKTargets.cmake”
    but not all the files it references.

    ** WARNING ** io features related to libusb-1.0 will be disabled
    — Checking for module ‘libopenni’
    — No package ‘libopenni’ found
    — Checking for module ‘libopenni2’
    — No package ‘libopenni2’ found
    — Could NOT find OpenNI2 (missing: OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
    ** WARNING ** visualization features related to openni2 will be disabled
    — Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR)
    ** WARNING ** visualization features related to ensenso will be disabled
    — Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR)
    ** WARNING ** visualization features related to davidSDK will be disabled
    — Could NOT find DSSDK (missing: _DSSDK_LIBRARIES)
    ** WARNING ** visualization features related to dssdk will be disabled
    — Could NOT find RSSDK (missing: _RSSDK_LIBRARIES)
    ** WARNING ** visualization features related to rssdk will be disabled
    — Checking for module ‘libopenni’
    — No package ‘libopenni’ found
    — looking for PCL_COMMON
    — looking for PCL_OCTREE
    — looking for PCL_IO
    — looking for PCL_STEREO
    — looking for PCL_KDTREE
    — looking for PCL_SEARCH
    — looking for PCL_SAMPLE_CONSENSUS
    — looking for PCL_FILTERS
    — looking for PCL_2D
    — looking for PCL_FEATURES
    — looking for PCL_REGISTRATION
    — looking for PCL_GEOMETRY
    — looking for PCL_ML
    — looking for PCL_SEGMENTATION
    — looking for PCL_SURFACE
    — looking for PCL_VISUALIZATION
    — looking for PCL_RECOGNITION
    — looking for PCL_KEYPOINTS
    — looking for PCL_PEOPLE
    — looking for PCL_TRACKING
    — looking for PCL_APPS
    — looking for PCL_OUTOFCORE
    — looking for PCL_GPU_CONTAINERS
    — looking for PCL_GPU_UTILS
    — looking for PCL_GPU_OCTREE
    — looking for PCL_GPU_SEGMENTATION
    — looking for PCL_GPU_KINFU
    — looking for PCL_GPU_KINFU_LARGE_SCALE
    — looking for PCL_GPU_FEATURES
    — Configuring done
    — Generating done
    — Build files have been written to: /home/shaikh/pcl-master/vlp_grabber/build

    Can you help me for visualization of point cloud.

  3. Raphael

    Thank you very much for the instructions !
    I managed to build and install everything, but with pcl-1.8.

    At the beginning, I had troubles to install the last dependencies (sudo apt-get install qt-sdk openjdk-7-jdk openjdk-7-jre) before noticing that “Pre-released updates” was unchecked in my Software Center. Checking it allowed me to install every dependencies correctly.

    After executing the “cmake …” command, I had to retry like 7/8 times the “make” command until it worked (I had the error : QtGui/QWidget not found, something like that). For that I changed a bit the CMakeLists.txt in the pcl source folder : added “include_directories(/usr/include/qt4)” just after the “cmake_minimum_required” line + I changed the version of qt used from 5 to 4 (at line “set(PCL_QT_VERSION 5 CACHE STRING “Which QT version to use”)”, replaced 5 by 4).

    After that, it still failed because it still tried to install things from qt5, so I went in the release folder, edited “CMakeCache.txt”, scrolled until I saw “PCL_QT_VERSION” and changed it to 4, then clicked generate and retried the make. It worked (after 1/2 – 3/4 hour of compilation).

    Also, as suggested in http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php,
    I added “-j2” after the two make commands for optimisation (not sure if that changed anything).

  4. Anna

    HI! Thanks for this tutorial. I try to follow but can’t get rid of the following error:

    ../../../../Include/XnStreamFormats.h:28:24: fatal error: XnPlatform.h: No such file or directory
    #include

    Can pls somebody help?

    Thanks so much in advance!

  5. yalan

    hi
    i followed this article but i have this error,could you plz help me?
    compilation terminated.
    make[2]: *** [apps/CMakeFiles/pcl_manual_registration.dir/include/pcl/apps/moc_manual_registration.cpp.o] Error 1
    make[1]: *** [apps/CMakeFiles/pcl_manual_registration.dir/all] Error 2
    make: *** [all] Error 2

  6. Savio Pereira

    Thanks a lot for this tutorial. I followed the tutorial to install PCL 1.8 on Ubuntu 16.04. I ran into the following error when I ran the cmake command :
    “By not providing “FindVTK.cmake” in CMAKE_MODULE_PATH this project has
    asked CMake to find a package configuration file provided by “VTK”, but
    CMake did not find one.

    Could not find a package configuration file provided by “VTK” (requested
    version 6.1) with any of the following names:

    VTKConfig.cmake
    vtk-config.cmake ”

    I was able to resolve it by pointing cmake to the installation location of VTK. To do this add the following argument to the cmake command:

    -DVTK_DIR=/usr/include/vtk-x.x

    where ‘x.x’ is the version of VTK Installed on your system.

  7. Srini

    Hi, I am following your instructions to install PCL, but I am getting the following error in the building process:

    [ 26%] Linking CXX shared library ../lib/libpcl_filters.so
    [ 26%] Built target pcl_filters
    Makefile:160: recipe for target ‘all’ failed
    make: *** [all] Error 2

  8. Kyunghee Kim

    Hi, Thank you very much for the tutorial. I installed PCL and OpenNI and SensorKinect on my laptop and and ran the openni grabber example from PCL at http://pointclouds.org/documentation/tutorials/openni_grabber.php#openni-grabber and I got this warning
    Warning: USB events thread – failed to set priority. This might cause loss of data…

    and the Kinect camera reading does not seem correct. Do you have any idea how I can resolve this issue? I’d really appreciate it. Thank you,

    • Alberto

      Until I know that is beacuse you are running the program as a simple user, If you run the program by terminal as a superuser, the warning doesn’t appear…

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