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How to install PCL library in Ubuntu 16.04, many novices are not very clear about this, in order to help you solve this problem, the following small series will explain in detail for everyone, there are people who need this can learn, I hope you can gain something.

1. Configure dependency packages

sudo apt-get updatesudo apt-get install git build-essential linux-libc-dev cmake cmake-gui libusb-1.0-0-dev libusb-dev libudev-dev mpi-default-dev openmpi-bin openmpi-common libflann1.8 libflann-dev libeigen3-dev libboost-all-dev libvtk5.10-qt4 libvtk5.10 libvtk5-dev libqhull* libgtest-dev freeglut3-dev pkg-config libxmu-dev libxi-dev mono-complete qt-sdk openjdk-8-jdk openjdk-8-jre

2. Compile source code

clone source code to user home directory:

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

Using CMake compile, create the build folder and go to:

cd ~/pclmkdir buildcd build

cmake configuration:

cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON -DCMAKE_INSTALL_PREFIX=/usr ..

Compiling takes a long time:

make

Then sudo install:

sudo make install

3. Testing

Create the test_pcl folder in the user's home directory:

mkdir ~/test_pclcd test_pcl

Create the test_pcl.cpp file:

Create the CMakeLists.txt file again:

Create build folder to compile source code:

mkdir buildcd buildcmake .. make

Run:

./ pcl_test

A demo window appears, which can be changed in size and orientation using the mouse wheel and left and right keys:

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