在Mac OS X上使用PCL（点云库）生成项目

Question

我安装了它们的site上建议的所有依赖项和预编译的PCL库。

我安装了一切后，我想生成一个项目，遵循this教程。

执行“制作”命令我得到一些警告和下面的两个错误后：

37 warnings generated. 
Linking CXX executable pcd_write_test 
Undefined symbols for architecture x86_64: 
    "pcl::PCDWriter::writeASCII(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, sensor_msgs::PointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, int)", referenced from: 
     pcl::PCDWriter::write(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, sensor_msgs::PointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool) in pcd_write.cpp.o 
    "pcl::PCDWriter::writeBinary(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, sensor_msgs::PointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&)", referenced from: 
     pcl::PCDWriter::write(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, sensor_msgs::PointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool) in pcd_write.cpp.o 
ld: symbol(s) not found for architecture x86_64 
clang: error: linker command failed with exit code 1 (use -v to see invocation) 
make[2]: *** [pcd_write_test] Error 1 
make[1]: *** [CMakeFiles/pcd_write_test.dir/all] Error 2 
make: *** [all] Error 2 

任何人有任何建议，如何解决这一问题？

我正在使用Mac OS X 10.9.4。

Answer 1

在mac-book pro优胜美地（10.10.3）我已经完成了以下 以获得pcl-tutorial（pcd_write.cpp）的运行。

中的CMakeLists.txt

cmake_minimum_required(VERSION 2.6 FATAL_ERROR) 
project(MY_GRAND_PROJECT) 
find_package(PCL 1.8 REQUIRED COMPONENTS common io) 
include_directories(${PCL_INCLUDE_DIRS}) 
link_directories(${PCL_LIBRARY_DIRS}) 
add_definitions(${PCL_DEFINITIONS}) 
add_executable(pcd_write_test pcd_write.cpp) 
target_link_libraries(pcd_write_test ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES}) 

运行ccmake

..在建的目录给

CMAKE_BUILD_TYPE                
CMAKE_INSTALL_PREFIX    /usr/local         
CMAKE_OSX_ARCHITECTURES              
CMAKE_OSX_DEPLOYMENT_TARGET             
CMAKE_OSX_SYSROOT                
DAVIDSDK_INCLUDE_DIR    DAVIDSDK_INCLUDE_DIR-NOTFOUND     
DAVIDSDK_LIBRARY     DAVIDSDK_LIBRARY-NOTFOUND      
EIGEN_INCLUDE_DIRS    /opt/local/include/eigen3      
ENSENSO_INCLUDE_DIR    ENSENSO_INCLUDE_DIR-NOTFOUND     
ENSENSO_LIBRARY     ENSENSO_LIBRARY-NOTFOUND      
LIBUSB_1_INCLUDE_DIR    /opt/local/include       
LIBUSB_1_LIBRARY     /opt/local/lib/libusb-1.0.dylib    
OPENNI2_INCLUDE_DIRS    OPENNI2_INCLUDE_DIRS-NOTFOUND     
OPENNI2_LIBRARY     OPENNI2_LIBRARY-NOTFOUND      
OPENNI_INCLUDE_DIRS    /usr/include/ni        
OPENNI_LIBRARY     /usr/lib/libOpenNI.dylib      
PCL_COMMON_INCLUDE_DIR   /usr/local/include/pcl-1.8 
PCL_DIR       /usr/local/share/pcl-1.8      
PCL_IO_INCLUDE_DIR    /usr/local/include/pcl-1.8     
PCL_OCTREE_INCLUDE_DIR   /usr/local/include/pcl-1.8 

和代码，我成功地编译

#include <iostream> 
#include <pcl/io/pcd_io.h> 
#include <pcl/point_types.h> 
int main(int argc, const char * argv[]) { 
    //insert code here.. 
    pcl::PointCloud<pcl::PointXYZ> cloud; 

    cloud.width = 5; 
    cloud.height = 1; 
    cloud.is_dense = false; 
    cloud.points.resize (cloud.width * cloud.height); 

    for (size_t i = 0; i < cloud.points.size(); ++i){ 
     cloud.points[i].x = 1024 * rand()/(RAND_MAX + 1.0f); 
     cloud.points[i].y = 1024 * rand()/(RAND_MAX + 1.0f); 
     cloud.points[i].z = 1024 * rand()/(RAND_MAX + 1.0f); 
    } 

    pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud); 
    std::cerr << "Saved " << cloud.points.size() << " data points to test_pcd.pcd." << std::endl; 

    for (size_t i = 0; i < cloud.points.size(); ++i) 
     std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl; 

    return (0); 

    std::cout << "Hello, World!\n"; 
    return 0; 
} 

...希望其有用的人！

nik