環境：NVIDIA TX2 ubuntu16.04

安裝過程如下：

1.下載pcl原始碼

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

2.安裝pcl依賴的一些庫

sudo apt-get install cmake g++   libboost1.58-all-dev libeigen3-dev libflann-dev python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libpng12-dev libgtest-dev libxmu-dev libxi-dev libpcap-dev libqhull-dev libvtk5-qt4-dev python-vtk libvtk-java 
 

3.編譯安裝pcl

cmake  -D CMAKE_BUILD_TYPE=None  -D BUILD_GPU=ON  -D BUILD_apps=ON  -D BUILD_examples=ON .  
sudo make -j2  
sudo make install  

4.遇到的問題

1）編譯過程中提示/usr/include/vtk/QVTKWidget.h fatal error QtGui/QWidget: NO such file or directory

解決辦法：由錯誤資訊定位到QQVTKWidget.h在41行做如下修改：
//#include <QWidgets>        //Qt4中寫法
#include <QtWidgets/QWidget> //Qt5中寫法
 

2）QVTKWidget.h error Qt::WFlags has not been declared

Change Qt::WFlags to Qt::WindowFlags