compile pcl 1.8.1 from source code on ubuntu 16.04

1. clone pcl 1.8.1

git clonehttps://github.com/PointCloudLibrary/pcl.git

2. install eigen

sudo apt-get install libeigen3-dev

3. compile flann1.9.1 from github

https://github.com/mariusmuja/flann

4. install boost

sudo apt-get install libboost-all-dev

5. compile vtk-8.0.1

down sourcecode from its official website

then compile

6. install openni and openni2

7. other prerequisites libraries please seehttps://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/

8. the configuration of cmake-gui looks like:

note: I need kinfu part,so I tick BUILD_GPU option. BTW,my GPU doesn't support 2.0 ARCH,so in GUDA group,delete 2.0 2.1(2.0)

The C compiler identification is GNU 5.4.0

The CXX compiler identification is GNU 5.4.0

Check for working C compiler: /usr/bin/cc

Check for working C compiler: /usr/bin/cc -- works

Detecting C compiler ABI info

Detecting C compiler ABI info - done

Detecting C compile features

Detecting C compile features - done

Check for working CXX compiler: /usr/bin/c++

Check for working CXX compiler: /usr/bin/c++ -- works

Detecting CXX compiler ABI info

Detecting CXX compiler ABI info - done

Detecting CXX compile features

Detecting CXX compile features - done

Using CPU native flags for SSE optimization: -march=native

-- GCC > 4.3 found,enabling -Wabi

Found OpenMP

Eigen found (include: /usr/include/eigen3,version: 3.2.92)

FLANN found (include: /usr/local/include,lib: optimized;/usr/local/lib/libflann_cpp.so;debug;/usr/local/lib/libflann_cpp.so)

OpenNI found (include: /usr/include/ni,lib: /usr/lib/libOpenNI.so)

OpenNI 2 found (include: /home/seamanj/OpenNI2/Packaging/Final/OpenNI-Linux-x64-2.2/Include,lib: /home/seamanj/OpenNI2/Packaging/Final/OpenNI-Linux-x64-2.2/Redist/libOpenNI2.so,redist: /home/seamanj/OpenNI2/Packaging/Final/OpenNI-Linux-x64-2.2/Redist)

Checking for module 'metslib'

No package 'metslib' found

QHULL found (include: /usr/local/include,lib: optimized;/usr/local/lib/libqhull_p.so;debug;/usr/local/lib/libqhull_p.so)

Found CUDA Toolkit v9.0

CUDA NVCC target flags: -gencode;arch=compute_30,code=sm_30;-gencode;arch=compute_35,code=sm_35;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_52,code=sm_52;-gencode;arch=compute_53,code=sm_53;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61

VTK_MAJOR_VERSION 8,rendering backend: OpenGL2

VTK found (include: /usr/local/include/vtk-8.0,lib: vtkCommonExecutionModel;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkjpeg;vtkDICOMParser;vtkInteractionImage;vtkImagingColor;vtkImagingCore;vtkInteractionStyle;vtkFiltersExtraction;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersSources;vtkRenderingCore;vtkCommonColor;vtkFiltersGeometry;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkmetaio;vtkzlib;vtkpng;vtktiff;vtkRenderingAnnotation;vtkRenderingFreeType;vtkfreetype;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtklz4;vtkIOXMLParser;vtkexpat;vtkIOParallelXML;vtkParallelCore;vtkIOLegacy;vtkFiltersSMP;vtkjsoncpp;vtkIOExportOpenGL2;vtkIOExport;vtkRenderingContext2D;vtkRenderingGL2PSOpenGL2;vtkRenderingOpenGL2;vtkglew;vtkgl2ps;vtklibharu;vtkFiltersFlowPaths;vtkIOVideo;vtkIOMINC;vtkNetCDF;vtkhdf5_hl;vtkhdf5;vtkexoIIc;vtkRenderingImage;vtkIONetCDF;vtknetcdfcpp;vtkIOSQL;vtksqlite;vtkFiltersAMR;vtkImagingStatistics;vtkDomainsChemistryOpenGL2;vtkDomainsChemistry;vtkRenderingContextOpenGL2;vtkChartsCore;vtkInfovisCore;vtkIOExodus;vtkIOLSDyna;vtkFiltersProgrammable;vtkIOPLY;vtkIOEnSight;vtkIOMovie;vtkoggtheora;vtkIOTecplotTable;vtkRenderingLabel;vtkFiltersVerdict;verdict;vtkIOAMR;vtkFiltersTopology;vtkIOImport;vtkIOGeometry;vtkViewsContext2D;vtkViewsCore;vtkRenderingVolumeOpenGL2;vtkImagingMath;vtkImagingMorphological;vtkFiltersImaging;vtkFiltersSelection;vtkFiltersTexture;vtkproj4;vtklibxml2;vtkFiltersHyperTree;vtkIOInfovis;vtkViewsInfovis;vtkInfovisLayout;vtkRenderingLOD;vtkFiltersPoints;vtkFiltersGeneric;vtkIOParallel;vtkFiltersParallel;vtkGeovisCore;vtkImagingStencil;vtkFiltersParallelImaging

Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)

Boost version: 1.58.0

Found the following Boost libraries:

system

filesystem

thread

date_time

iostreams

chrono

atomic

regex

DOXYGEN_FOUND

HTML_HELP_COMPILER

Found CPack generators: DEB

The following subsystems will be built:

common

octree

kdtree

search

sample_consensus

filters

io

2d

features

registration

ml

recognition

keypoints

tracking

geometry

visualization

outofcore

stereo

gpu_containers

gpu_utils

gpu_octree

gpu_kinfu_large_scale

gpu_features

gpu_kinfu

gpu_segmentation

segmentation

surface

tools

people

The following subsystems will not be built:

gpu_tracking: Disabled by default.

gpu_surface: Disabled by default.

gpu_people: Disabled by default.

simulation: Disabled by default.

examples: Code examples are disabled by default.

global_tests: No reason

apps: No reason

Configuring done

Generating done

9. make -j${nproc}

done!