Ubuntu 安装PCL

一，下载PCL

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

$ ln -s pcl-trunk pcl   

二，安装库

$ sudo apt-get install cmake  

$ sudo apt-get install g++  

$ sudo apt-get install libboost1.55-all-dev  

$ sudo apt-get install libeigen3-dev  

$ sudo apt-get install libflann-dev  

$ sudo apt-get install python  

$ sudo apt-get install libusb-1.0-0-dev  

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$ sudo apt-get install libudev-dev  

$ sudo apt-get install openjdk-6-jdk  

$ sudo apt-get install freeglut3-dev  

$ sudo apt-get install doxygen  

$ sudo apt-get install graphviz  

$ sudo apt-get install libpng12-dev  

$ sudo apt-get install libgtest-dev  

$ sudo apt-get install libxmu-dev  

$ sudo apt-get install libxi-dev  

$ sudo apt-get install libpcap-dev  

$ sudo apt-get install libqhull-dev  

$ sudo apt-get install libvtk5-qt4-dev  

$ sudo apt-get install python-vtk  

$ sudo apt-get install libvtk-java  

三，编译库

$ cd pcl-trunk  

$ mkdir build  

$ cd build  

$ cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..   

$ make  

$ sudo make install  

四，测试PCL

1、HOME目录下  pcl-trunk->doc->tutorials->content->sources下有PCL例程：这里我选择的是cloud_viewer文件夹下的cloud_viewer.cpp

2、创建demo包

$ cd catkin_ws/src/  

$ catkin_create_pkg demo std_msgs rospy roscpp  

3、将cloud_viewer.cpp文件拷贝到demo文件下，同时用cloud_viewer文件夹下的CmakeList.txt代替demo文件夹下的CmakeList.txt文件

4、编译运行cloud_view.cpp源文件

$ cd demo  

$ sudo cmake .  

$ sudo make  

$ ./cloud_viewer  

五，运行结果