cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_CUDA=ON -DBUILD_gpu_kinfu=ON -DBUILD_gpu_kinfu_large_scale=ON ..
会遇到很多安装的问题, 在安装之前, 请依照以下网址依次修改文件:
1. https://github.com/Signafy/pcl/commit/fc50cc6f3d0c9d0f8366164f62b013e508b01f6f
2. https://github.com/PointCloudLibrary/pcl/pull/2212
3. https://github.com/PointCloudLibrary/pcl/pull/2181
4. https://github.com/PointCloudLibrary/pcl/pull/1929
修改之后, 即可顺利安装.