POINT CLOUD LIBRARY 在UBUNTU 16.04 LTS的安装

点云安装过程中出现了障碍，于是找到这个教程

https://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/

教程里介绍了两种方式，我选择了自己编译的方式，有兴趣可以参考教程里的另外一种比较简单的方法预编译的DEB文件的方法

Setup Prerequisites

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

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
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

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