ubuntu 16.04 下安装PCL

My previous blog post described how to build PCL on Ubunut 14.04 LTS.  Now Ubuntu has advanced to 16.04 LTS and PCL to version 1.8, so this post is dedicated to making this upgrade simple.

Update: a prebuilt DEB file for PCL 1.8 for Ubunut 16.04 is available here.
To install it, do

     sudo dpkg -i PCL-1.8.0-Linux.deb

Now, if you like to try build it yourself, continue.

Setup Prerequisites

To prepare the software development on Ubuntu we need setup some prerequisite tools:

     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

Build Point Cloud Library

Point Cloud Library is obtained by:

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

Now you should find pcl in your directory.  Go into it and create a release directory and follow the cmake build process:

     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

The make will take some time, so go get a cup of coffee or take that long overdue shower.  Once the build finishes, install it by:

     sudo make install