1.下载PCL源代码
$ git clone https://github.com/PointCloudLibrary/pcl.git
注:PCL源代码下载好之后默认存在用户主目录下面,我的是存放在/home/zhuquan/中,即pcl的路径为/home/zhuquan/pcl
2.安装相关的库
$ sudo apt-get install cmake g++ libboost1.58-all-dev libeigen3-dev libflann-dev python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libpng12-dev libgtest-dev libxmu-dev libxi-dev libpcap-dev libqhull-dev libvtk5-qt4-dev python-vtk libvtk-java
3.编译库
zhuquan@zhuquan-HP-Z230-Tower-Workstation:~$ cd pcl
zhuquan@zhuquan-HP-Z230-Tower-Workstation:~/pcl$ mkdir build
zhuquan@zhuquan-HP-Z230-Tower-Workstation:~/pcl$ cd build
zhuquan@zhuquan-HP-Z230-Tower-Workstation:~/pcl/build$ cmake -D CMAKE_INSTALL_PREFIX=/usr/local -D CMAKE_BUILD_TYPE=None -D BUILD_GPU=ON -D BUILD_apps=ON -D BUILD_examples=ON ..
zhuquan@zhuquan-HP-Z230-Tower-Workstation:~/pcl/build$ make
zhuquan@zhuquan-HP-Z230-Tower-Workstation:~/pcl/build$ sudo make install