Ubuntu16.04安装PCL1.9

1、安装各种依赖包
sudo apt-get install g++
sudo apt-get install cmake cmake-gui
sudo apt-get install doxygen
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 libvtk6-dev libvtk6.2 libvtk6.2-qt
sudo apt-get install ‘libqhull*’
sudo apt-get install libusb-dev
sudo apt-get install libgtest-dev
sudo apt-get install git-core freeglut3-dev pkg-config
sudo apt-get install build-essential libxmu-dev libxi-dev
sudo apt-get install libusb-1.0-0-dev graphviz mono-complete
sudo apt-get install qt-sdk openjdk-9-jdk openjdk-9-jre
sudo apt-get install phonon-backend-gstreamer
sudo apt-get install phonon-backend-vlc
sudo apt-get install libopenni-dev libopenni2-dev

2、解压PCL1.9源码包
cd pcl-pcl-1.9.1/
mkdir build
cd build/
cmake -DPCL_DIR=/usr/local/share/pcl-1.9 …

注意这个会默认安装到/usr/local目录下，而pcl1.7默认是在/usr/include和/usr/lib下的
3、编译
make
sudo make install

Cmakelists配置文件
如果你已经安装到系统目录，就把set注释掉。

cmake_minimum_required(VERSION 2.8)

project(test_pcl)

#set(PCL_DIR "/home/usr-..-/Downloads/pcl-pcl-1.9.1/build/PCLConfig.cmake")

if(COMMAND cmake_policy)
     cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)

find_package(PCL 1.9 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
add_executable(${PROJECT_NAME} src/main.cpp)
target_link_libraries (${PROJECT_NAME}
    ${PCL_LIBRARIES}
 )

源码：

//pcl_test.cpp
#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
 
 
int main(int argc, char **argv) {
    std::cout << "Test PCL !!!" << std::endl;
    
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
      for (float angle(0.0); angle <= 360.0; angle += 5.0)
      {
	pcl::PointXYZRGB point;
	point.x = 0.5 * cosf (pcl::deg2rad(angle));
	point.y = sinf (pcl::deg2rad(angle));
	point.z = z;
	uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
		static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
	point.rgb = *reinterpret_cast<float*>(&rgb);
	point_cloud_ptr->points.push_back (point);
      }
      if (z < 0.0)
      {
	r -= 12;
	g += 12;
      }
      else
      {
	g -= 12;
	b += 12;
      }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;
    
    pcl::visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}

Qt版本

# Opencv4
INCLUDEPATH += /usr/local/include/opencv4 \
                /usr/local/include/opencv4/opencv2

LIBS += /usr/local/lib/libopencv_calib3d.so \
        /usr/local/lib/libopencv_core.so \
        /usr/local/lib/libopencv_features2d.so \
        /usr/local/lib/libopencv_flann.so \
        /usr/local/lib/libopencv_highgui.so \
        /usr/local/lib/libopencv_imgcodecs.so \
        /usr/local/lib/libopencv_imgproc.so \
        /usr/local/lib/libopencv_ml.so \
        /usr/local/lib/libopencv_objdetect.so \
        /usr/local/lib/libopencv_photo.so \
        /usr/local/lib/libopencv_stitching.so \
        /usr/local/lib/libopencv_videoio.so \
        /usr/local/lib/libopencv_video.so

# pcl
INCLUDEPATH += /usr/include/eigen3

INCLUDEPATH += /usr/include/vtk-6.2
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so

INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so

INCLUDEPATH += /usr/local/include/pcl-1.9
LIBS += /usr/local/lib/libpcl_*.so

// main.cpp
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/io.h>


using namespace std;
using namespace pcl;
using namespace io;

int main()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
    point_cloud_ptr->height = 1;
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
        for (float angle(0.0); angle <= 360.0; angle += 5.0)
        {
            pcl::PointXYZ point;
            point.x = z;
            point.y = z;
            point.z = z;
            point_cloud_ptr->points.push_back (point);
        }
    }


    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(point_cloud_ptr, "z"); // 按照z字段进行渲染

    viewer->addPointCloud<pcl::PointXYZ>(point_cloud_ptr, fildColor, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 设置点云大小

    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }

    return 0;
}

参考：
https://blog.csdn.net/subiluo/article/details/94001456
https://blog.csdn.net/acyddlm/article/details/82974012