1. Basic source code to compile and install follow this blog , but does not support pcd, las format after this installation, you need to do the following
2. After compiling the source code to install, build folders (trunk / build) will generate a CMakeCache.txt file, edit it:
//Check to install qPCL plugin
PLUGIN_STANDARD_QPCL:BOOL=OFF
...
//Install qPDALIO plugin to read & write LAS files
PLUGIN_IO_QPDAL:BOOL=OFF
Corresponding to OFF, to ON, re-compiled and installed to support pcd, las peer cloud format