方式一:官网prebuild版本
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all
可能是因为国内的关系,并没有更新 apt-get 成功
方式二:安装 prebuilt DEB file for PCL 1.8 for Ubunut 16.04
会报错没有相关依赖,解决方式:
sudo apt-get -f update
方式三:自己编译源码(推荐)
以上两种便捷方式在之后的使用中我都出现了一些问题,所以还是推荐自己编译。
第一步:安装依赖
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
第二步:下载源码
git clone https://github.com/PointCloudLibrary/pcl.git
第三步: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
sudo make install
第四步(可选 and 建议):如果需要PCLVisualizer
安装OpenNI、OpenNI2
sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev
安装ensensor sudo dpkg -i ensenso-sdk-2.0.147-x64.deb
sudo dpkg -i codemeter_6.40.2402.501_amd64.deb
如缺少依赖:sudo apt-get -f install
Done!