一、安装pcl1.11.1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 libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev 
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-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 openjdk-8-jdk openjdk-8-jre

pcl1.11.1下载链接

二、安装pcl1.11.1

cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make -j8
sudo make install

如果出现如下报错

/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libSM.so：对‘uuid_generate@UUID_1.0’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libSM.so：对‘uuid_unparse_lower@UUID_1.0’未定义的引用
collect2: error: ld returned 1 exit status

这是和anaconda3冲突，执行如下即可解决

ls ~/anaconda3/lib/libuuid*
mkdir ~/anaconda3/libuuid
mv ~/anaconda3/lib/libuuid* ~/anaconda3/libuuid

三、测试

cd ~/pcl1.11.1/test   
pcl_viewer office1.pcd