ubuntu14.04 安装PCL

apt-get方法:

We currently support all Ubuntu via PPA. The installation instructions are:

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all

以下是手动安装:

1，下载PCL

$ git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk 
$ ln -s pcl-trunk pcl   

2，安装依赖项

$ sudo apt-get install cmake  
$ sudo apt-get install g++  
$ sudo apt-get install libboost1.55-all-dev  
$ sudo apt-get install libeigen3-dev  
$ sudo apt-get install libflann-dev  
$ sudo apt-get install python  
$ sudo apt-get install libusb-1.0-0-dev  
$ sudo apt-get install libudev-dev  
$ sudo apt-get install openjdk-6-jdk  
$ sudo apt-get install freeglut3-dev  
$ sudo apt-get install doxygen  
$ sudo apt-get install graphviz  
$ sudo apt-get install libpng12-dev  
$ sudo apt-get install libgtest-dev  
$ sudo apt-get install libxmu-dev  
$ sudo apt-get install libxi-dev  
$ sudo apt-get install libpcap-dev  
$ sudo apt-get install libqhull-dev  
$ sudo apt-get install libvtk5-qt4-dev  
$ sudo apt-get install python-vtk  
$ sudo apt-get install libvtk-java  

3，编译库

$ cd pcl-trunk  
$ mkdir build  
$ cd build  
$ cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..   
$ make  
$ sudo make install  

四，测试PCL
1、HOME目录下 pcl-trunk->doc->tutorials->content->sources下有PCL例程：这里我选择的是cloud_viewer文件夹下的cloud_viewer.cpp
2、创建demo包

$ cd catkin_ws/src/  
$ catkin_create_pkg demo std_msgs rospy roscpp  

3、将cloud_viewer.cpp文件拷贝到demo文件下，同时用cloud_viewer文件夹下的CmakeList.txt代替demo文件夹下的CmakeList.txt文件
4、编译运行cloud_view.cpp源文件

$ cd demo  
$ sudo cmake .  
$ sudo make  
$ ./cloud_viewer