Pcl_ros with PCL 1.8 (ROS Lunar and newer) means linking to 139 VTK dynamic libraries

VictorLamoine · April 12, 2018, 8:13am

PCL can be compiled without visualization, this removes the VTK dependency:

PointCloudLibrary/pcl/blob/master/CMakeLists.txt#L362


    include("${QT_USE_FILE}")
  endif (QT4_FOUND)
elseif("${PCL_QT_VERSION}" STREQUAL "5")
  include(cmake/pcl_find_qt5.cmake)
else()
  message(SEND_ERROR "PCL_QT_VERSION must be 4 or 5")
endif()
endif(WITH_QT)


# Find VTK
option(WITH_VTK "Build VTK-Visualizations" TRUE)
if(WITH_VTK AND NOT ANDROID)
find_package(VTK)
if(VTK_FOUND)
  if(NOT DEFINED VTK_RENDERING_BACKEND)
    # On old VTK versions this variable does not exist. In this case it is
    # safe to assume OpenGL backend
    set(VTK_RENDERING_BACKEND "OpenGL")
  endif()
  message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}, rendering backend: ${VTK_RENDERING_BACKEND}")
  if (PCL_SHARED_LIBS OR

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Pcl_ros with PCL 1.8 (ROS Lunar and newer) means linking to 139 VTK dynamic libraries

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