1.下载源码
git clone https://github.com/PointCloudLibrary/pcl.git
2.建立build目录编译
将下载完成的pcl文件拷贝到catkin_ws/src目录下,
在pcl文件中建立并进入build目录
$ mkdir build && cd build
编译安装
#默认安装/usr/local/include
cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
#安装/usr/include
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON -DCMAKE_INSTALL_PREFIX=/usr ..
make -j2
$ sudo make install
3.CmakeList.txt中添加:
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
然后catkin_make编译即可