1、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

2、安装VTK

在https://vtk.org/download/下载VTK源码包，下载最新的即可。解压缩

mkdir build
cd build
cmake ../ -DCMAKE_INSTALL_PREFIX=/home/zhangchen/thirdparty/vtk
make -j4
sudo make install

3、下载源码

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

4、添加环境变量

     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

5、安装

     sudo make install

6、测试

参考：https://blog.csdn.net/suyunzzz/article/details/96722184