1.官网下载https://www.mrpt.org/download-mrpt/
.tra.gz或者.zip
2.依赖库：
sudo apt-get install build-essential pkg-config cmake \
Libwxgtk3.0-dev libftdi-dev freeglut3-dev \
zlib1g-dev libusb-1.0-0-dev libudev-dev libfreenect-dev \
libdc1394-22-dev libavformat-dev libswscale-dev \
libassimp-dev libjpeg-dev libopencv-dev libgtest-dev \
libeigen3-dev libsuitesparse-dev libpcap-dev
3.解压后mkdir build && cd build
cmake ..
sudo make
sudo make install
4.测试
cd simaples/icp3D
cmake ..
make
./ipc3D