There are quite a few dependencies that must be installed before PCL can be compiled. I will go through how to install all of them.
You will probably already have most of this on your system, but just to make sure you should run the following
sudo apt-get update
sudo apt-get install build-essential
Go to this website and download the latest stable release with the tar.gz extension. Then go to the download directory and unzip with the following
tar xvzf <eigen-archive>
Then cd into the unzipped directory and run the following commands
mkdir build
cd build
cmake ..
make -j4
sudo make install
Pretty much the same as Eigen, go to this website and download the source release with the tar.gz extension. Then go the download directory and run
tar xvzj <VTK-archive>
Then cd into the unzipped directory and run the following commands
mkdir build
cd build
cmake ..
make -j4
sudo make install
Boost has a bunch of dependencies so unless you already have it installed you'llwant to get the package and all dependencies with
sudo apt-get install libboost-all-dev
Now depending on the version of Ubuntu you have the installed version of Boost may not be new enough. If you're hitting errors like that go to this website. Under the current release section click "Download" and then download the version with the tar.gz extension.
Then cd into the download directory and run
tar xvzf <boost-archive>
Then cd into the unzipped folder and do the following
sudo ./bootstrap.sh --prefix=/usr/local
sudo ./b2 install
Go to this website and under the "Getting FLANN" section download the source zip file.
If you don't already have unzip installed run
sudo apt-get install unzip
Then cd into the download directory and run
unzip <FLANN-archive>
Then cd into the unzipped directory and run the following commands
mkdir build
cd build
cmake ..
make -j4
sudo make install
This one's easy though the package name isn't obvious. Just install the following.
sudo apt-get install freeglut3-dev