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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

1. Point Cloud Library is obtained by:

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

2. 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

3. 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

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Test

https://www.youtube.com/watch?v=5lU6RiS4pfE