PCL1.9的PCLConfig.cmake文件找不到eigen等外部依赖

不念不忘少年蓝@ 2023-06-17 11:55 5阅读 0赞

# PCL1.9的PCLConfig.cmake文件找不到eigen等外部依赖 #

由于需要用到PCL中on\_nurbs模块做拟合，但是ros自带的pcl中没有该模块。所以源码安装了PCL 1.9，但是在使用过程中遇到了如下问题。

## 1. 安装过程 ##

1.安装如下依赖项

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 //会卸载ros安装的部分软件包
    #sudo apt-get install libqhull* libgtest-dev//安装不了，改成下一句命令
    sudo apt-get install libgtest-dev libqhull-dev libqhull-doc
    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

但是在安装vtk5.10库文件的时候会删除ros中的相关文件，所以跳过了该命令。

下载PCL源代码

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

下载过程更换成手机热点，从而达到高速下载速度。

3、编译安装

ls
    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 -j8  
    sudo make install

4、如果需要PCLVisualizer，安装OpenNI、OpenNI2

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

## 2. PCLConfig.cmake文件找不到eigen等外部依赖 ##

在将PCL成功编译安装之后，在项目的CMakeLists.txt中文件中添加如下语句，用于添加PCL相关库文件：

set(PCL_DIR /home/Andy/my_workspace/pcl-master/release)
    find_package(PCL REQUIRED COMPONENTS)
    find_package(Eigen3 REQUIRED)
    list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
    
    include_directories( ${PCL_INCLUDE_DIRS} )
    link_directories(${PCL_LIBRARY_DIRS})
    add_definitions( ${PCL_DEFINITIONS} )

但是在 cmake的过程中会提示出现如下问题：

By not providing "FindEigen.cmake" in CMAKE_MODULE_PATH this project has
      asked CMake to find a package configuration file provided by "Eigen", but
      CMake did not find one.
    
      Could not find a package configuration file provided by "Eigen" (requested
      version 3.1) with any of the following names:
    
        EigenConfig.cmake
        eigen-config.cmake
    
      Add the installation prefix of "Eigen" to CMAKE_PREFIX_PATH or set
      "Eigen_DIR" to a directory containing one of the above files.  If "Eigen"
      provides a separate development package or SDK, be sure it has been
      installed.
    Call Stack (most recent call first):
      /home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:314 (find_eigen)
      /home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:547 (find_external_library)
      CMakeLists.txt:32 (find_package)
    
    
    CMake Error at /home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:60 (message):
      common is required but eigen was not found
    Call Stack (most recent call first):
      /home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:365 (pcl_report_not_found)
      /home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:547 (find_external_library)
      CMakeLists.txt:32 (find_package)
    
    
    -- Configuring incomplete, errors occurred!
    See also "/home/Andy/my_workspace/Code/Clion_code/PCL_example/PCL_Curve_Fitting/build/CMakeFiles/CMakeOutput.log".
    See also "/home/Andy/my_workspace/Code/Clion_code/PCL_example/PCL_Curve_Fitting/build/CMakeFiles/CMakeError.log".

产生这个问题的原因在于PCLConfig.cmake文件找不到eigen依赖。  
可以将PCLConfig.cmake文件中的find\_eigen函数改为如下形式：

macro(find_eigen)
      if(PCL_ALL_IN_ONE_INSTALLER)
        set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")
      elseif(NOT EIGEN_ROOT)
        get_filename_component(EIGEN_ROOT "/usr/include/eigen3" ABSOLUTE)
      endif(PCL_ALL_IN_ONE_INSTALLER)
      if(PKG_CONFIG_FOUND)
        pkg_check_modules(PC_EIGEN eigen3)
      endif(PKG_CONFIG_FOUND)
      find_path(EIGEN_INCLUDE_DIRS Eigen/Core
        HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} 
              "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"
        PATHS "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
              "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"   
        PATH_SUFFIXES eigen3 include/eigen3 include)
      find_package_handle_standard_args(eigen DEFAULT_MSG EIGEN_INCLUDE_DIRS)
      set(EIGEN_DEFINITIONS ${EIGEN_DEFINITIONS} -DEIGEN_USE_NEW_STDVECTOR 
          -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
    endmacro()

修改之后，重新编译还有报错，提示找不到OpenNIConfig.cmake。同理需要将PCLConfig.cmake文件中相应的函数进行修改。

改完之后，将成功编译。

完整的PCLConfig.cmake我以上传。可以直接下载，替换掉原来的PCLConfig.cmake文件。  
[PCLConfig.cmake][]

[PCLConfig.cmake]: https://download.csdn.net/download/u014709760/12004241