PCL安装

1.首先，要先安装一大堆依赖库

     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

2.接着从github上把PCL源码clone下来

     git clone https://github.com/PointCloudLibrary/pcl.git

3.编译源码

     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

PCL卸载

卸载有问题的PCL1.7（vtk bug等等，例如：不能显示深度图）这里描述的pcl1.7，具体版本请查看自己安装的对应版本

     sudo rm -r build
     sudo rm -r /usr/include/pcl-1.7 /usr/share/pcl /usr/bin/pcl* /usr/lib/libpcl*

执行上述命令， 上述四个目录中，可能会找不到某些目录。可以自己去 usr 目录下搜索 关键字 pcl 或者 libpcl。本人在目录 /usr/libx86_64-linux-gnu 下找到 相关libpcl*文件，删除即可，删除命令同上。