ubuntu 16.04 下安装PCL

Setup Prerequisites

To prepare the software development on Ubuntu we need setup some prerequisite tools:

     sudo apt-get update
     sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
     sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
     sudo apt-get install libflann1.8 libflann-dev
     sudo apt-get install libeigen3-dev
     sudo apt-get install libboost-all-dev
     sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
     sudo apt-get install libqhull* libgtest-dev
     sudo apt-get install freeglut3-dev pkg-config
     sudo apt-get install libxmu-dev libxi-dev 
     sudo apt-get install mono-complete
     sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

此处最后一步安装一些需要的库时，出现了一些错误，没有理会，继续向下编译。

Build Point Cloud Library

Point Cloud Library is obtained by:

     git clone https://github.com/PointCloudLibrary/pcl.git

Now you should find pcl in your directory.  Go into it and create a release directory and follow the cmake build process:

     cd pcl
     mkdir release
     cd release
     cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \
           -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \
           -DCMAKE_INSTALL_PREFIX=/usr ..
     make

The make will take some time, so go get a cup of coffee or take that long overdue shower.  Once the build finishes, install it by:

     sudo make install