1. 最简单方法

http://pointclouds.org/downloads/linux.html
官方命令:

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但是会有下面的情况
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输入:

sudo apt install libpcl-dev

安装成功.
pcl1.7.2

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2.测试

test.cpp

#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
 

int main(int argc, char **argv) 
{
  std::cout << "Test PCL !!!" << std::endl;
  
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
  uint8_t r(255), g(15), b(15);
  for (float z(-1.0); z <= 1.0; z += 0.05)
  {
    for (float angle(0.0); angle <= 360.0; angle += 5.0)
    {
      pcl::PointXYZRGB point;
      point.x = 0.5 * cosf (pcl::deg2rad(angle));
      point.y = sinf (pcl::deg2rad(angle));
      point.z = z;
      uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
        static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
      point.rgb = *reinterpret_cast<float*>(&rgb);
      point_cloud_ptr->points.push_back (point);
    }
    if (z < 0.0)
    {
      r -= 12;
      g += 12;
    }
    else
    {
      g -= 12;
      b += 12;
    }
  }
  point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
  point_cloud_ptr->height = 1;
  
  pcl::visualization::CloudViewer viewer ("test");
  viewer.showCloud(point_cloud_ptr);
  while (!viewer.wasStopped())
  { 

  };
  return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 2.6)
project(pcl_test)

find_package(PCL 1.7 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcl_test test.cpp)

target_link_libraries (pcl_test ${PCL_LIBRARIES})

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参考:

1. https://blog.csdn.net/fsencen/article/details/79386570
2. https://github.com/PointCloudLibrary/pcl