安装PCL点云库安装

1、安装依赖项

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 libflann-dev # libflann1.8
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev libpcap-dev
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre
sudo apt-get install libpcap-dev

在安装sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-dev时报无法定位软件包，所以手动安装。

２、Qt+ros_qtc_plugin 安装

当前安装版本 qt5.9.0

1)下载qt5

下载地址： http://download.qt.io/archive/qt/qt-opensource-linux-x64-5.9.0.run

2)安装

chmod +x ~/qt-opensource-linux-x64-5.9.0.run
./qt-opensource-linux-x64-5.9.0.run

然后就是图形界面的安装了：