ubuntu16.04 运行LOAM

#####仅作为笔记
环境：
ubuntu16.04
PCL
Eigen3 ##使用sudo apt-get install libeigen3-dev

1. PCL

#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

#安装
git clone https://github.com/PointCloudLibrary/pcl.git 
cd pcl
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make -j4 && sudo make install

2. 安装loam_velodyne

cd ~/catkin_ws/src/
git clone https://github.com/laboshinl/loam_velodyne.git
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=Release 
source ~/catkin_ws/devel/setup.bash

3. 测试

#数据集下载：
#这个博客提供百度云盘下载链接： https://blog.csdn.net/HHT0506/article/details/104550050
roslaunch loam_velodyne loam_velodyne.launch
rosbag play ~/Downloads/velodyne.bag 
或者：
roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap"
#https://data.kitware.com/#folder/5b7fff608d777f06857cb539   pcap格式的数据集

4. 测试结果