PCL在Ubuntu16.04上的安装详解

安装方式：自己编译源码

1、安装依赖

sudo apt-get update sudo apt-get install git build-essential linux-libc-dev sudo apt-get install cmake cmake-gui 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 //会卸载ros安装的部分软件包 #sudo apt-get install libqhull* libgtest-dev//安装不了，改成下一句命令 sudo apt-get install libgtest-dev libqhull-dev libqhull-doc 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

2、下载PCL源代码

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

下载过程更换成手机热点，从而达到高速下载速度。

3、编译安装

ls 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 -j8 sudo make install

4、如果需要PCLVisualizer，安装OpenNI、OpenNI2

sudo apt-get install libopenni-dev sudo apt-get install libopenni2-dev

Done！

没有提示错误即证明安装成功，可以跑一个pcl点云库书中例子测试一下。