ubuntu16.04安装pcl

方式一：官网prebuild版本（14讲推荐方法）

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all（针对ubuntu14.04）

sudo apt install libpcl-dev（ubuntu16.04)

方式二：自己编译源码

第一步：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
     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

第二步：下载源码

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

第三步：编译源码（过程略漫长。。。）

     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

sudo make install

第四步：安装PCLVisualizer

安装OpenNI、OpenNI2

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

安装ensensor

sudo dpkg -i ensenso-sdk-2.0.147-x64.deb 
sudo dpkg -i codemeter_6.40.2402.501_amd64.deb 

如缺少依赖：sudo apt-get -f install

安装完成