pcl和opencv多版本共存

在Ubuntu 16.04系统下安装kinetic版本ROS，会默认安装opencv 3.3.1和pcl1.7.

opencv安装路径

/opt/ros/kinetic/

pcl安装路径

/usr/

如果想安装opencv2.4版本，或者安装pcl 1.8版本，那么如何设置安装路径，同时在CMakeLists中调用版本。

opencv 2.4

首先从github上下载相应版本的release压缩包

cd opencv-2.4
mkdir build 
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv-2.4 -DOPENCV_EXTRA_MODULES_PATH=path to opencv_contrib-3.2.0/modules/ ..
make -j4
sudo make install -j4

注：如果不设置-DCMAKE_INSTALL_PREFIX则默认安装位置为： /usr/local/

在CMakeLists.txt设置，主要是设置OpenCVConfig.cmake的路径。

set(OpenCV_DIR  "/usr/local/opencv-2.4/share/OpenCV/")
find_package(OpenCV)
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
add_definitions(${OpenCV_DEFINATIONS})

pcl 1.8

首先从github上下载相应版本的release压缩包

cd pcl-1.8
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/pcl-1.8 -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
make -j4
sudo make install -j4

在CMakeLists.txt设置，主要是设置PCLConfig.cmake的路径。

set(PCL_DIR "/usr/local/pcl-1.8/share/pcl-1.8")
find_package(PCL 1.8 REQUIRED COMPONENTS)
include_directiories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definations(${PCL_DEFINATIONS})

注：依赖库安装没有介绍