激光SLAM技术总结（4）V-LOAM算法测试（ KITTI 数据集）上

1.PCL简介

The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing. PCL is released under the terms of the BSD license, and thus free for commercial and research use.

Whether you’ve just discovered PCL or you’re a long time veteran, this page contains links to a set of resources that will help consolidate your knowledge on PCL and 3D processing. An additional Wiki resource for developers is available at https://github.com/PointCloudLibrary/pcl/wiki.

Github代码仓库： https://github.com/PointCloudLibrary/pcl/releases

1.1 Getting Started

To simplify both usage and development, we split PCL into a series of modular libraries. The most important set of released modules in PCL is shown below.

教程地址https://pointclouds.org/

1.2 技术文档

文档地址https://pcl.readthedocs.io/projects/tutorials/en/latest/

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2. 源码编译PCL

切勿安装二进制pcl lib。 

下载源码：https://github.com/PointCloudLibrary/pcl 选择版本1.9.1

cd pcl-pcl-1.9.1 && mkdir build && cd build

使用Cmake build system:

cmake -DCMAKE_BUILD_TYPE=Release ..

编译

make -j2 

安装即可。