常规安装步骤如下

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 libflann1.9 libflann-dev 
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
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre

出现的错误

Reading package lists... Done
Building dependency tree       
Reading state information... Done
libvtk7.1 is already the newest version (7.1.1+dfsg1-2).
libvtk7.1-qt is already the newest version (7.1.1+dfsg1-2).
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 libvtk7-qt-dev : Depends: libvtk7-dev (= 7.1.1+dfsg1-2) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

解决方法

sudo apt-get install libvtk7-jni

这个时候可能会出现源问题，去切换一下源试试。不用梯子，，，，

下载编译

load the PCL1.8 from the link
https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1

接下来进行编译

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  

编译完成之后

sudo make install