方式一：官網prebuild版本

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all

方式二：安裝 prebuilt DEB file for PCL 1.8 for Ubunut 16.04

會報錯沒有相關依賴，解決方式： 

sudo apt-get -f update

以上兩種便捷方式在之後的使用中我都出現了一些問題，所以還是推薦自己編譯。

第一步：安裝依賴

     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
 

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

     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

     sudo make install
 

安裝OpenNI、OpenNI2

sudo apt-get install libopenni-dev 
sudo apt-get install libopenni2-dev

下載

如缺少依賴：sudo apt-get -f install

Done!