在ubuntu16.04中安裝點雲庫的過程中，首先嚐試官網的命令安裝，發現會提示一些錯誤導致無法安裝，以下為通過下載原始碼編譯安裝的過程

1.下載pcl原始碼

通過命令

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

如果下載太慢也可以直接去github網站地址https://github.com/PointCloudLibrary/pcl ，選擇Tag pcl-1.8.1下載zip壓縮包

2.安裝依賴的庫

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
 

確保以上命令執行成功，否則安裝pcl過程會出現錯誤或者安裝完後有些程式無法執行

3.編譯pcl原始碼

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