1. 下载源码和依赖库

首先下载源码VTK8.2:

Download | VTK

下载PCL1.9.1链接：Releases · PointCloudLibrary/pcl · GitHub

下载好了以后，先安装PCL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 libflann1.9 libflann-dev # 有说ubuntu16对应1.8，ubuntu18对应1.9，我直接用了1.9
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-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 libopenni-dev//可以不装
sudo apt-get install libopenni2-dev//可以不装
sudo apt-get install openjdk-8-jdk openjdk-8-jre

然后安装VTK的库：

 

sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev

#OpenGL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev

#cmake && cmake-gui
sudo apt-get install cmake cmake-gui

2、先安装VTK再安装PCL

编译安装VTK：

cd VTK.8.2

mkdir build

cd build

cmake ..

make -j16

sudo make install 

 编译安装PCL

cd PCL.1.9

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 -j16

make install 

进度100%，表示安装完成。测试即可