Question

我正在使用Ubuntu 12.04计算机，我遇到以下问题：我正在尝试使用CMake编译和构建C ++文件，但是当我在“cmake ...”之后给出命令“make”时，我得到了错误：

pcl_openni_grabber.cpp：2：29：致命错误：pcl / point_cloud.h：没有这样的文件或目录编译终止。

现在我的CMakeLists.txt是以下内容：

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(pcl-openni-grabber)

find_package(PCL 1.2 REQUIRED)

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

add_executable (pcl_openni_grabber pcl_openni_grabber.cpp)
target_link_libraries (pcl_openni_grabber ${PCL_LIBRARIES})

环境变量PCL_INCLUDE_DIRS包含：

/usr/include/pcl-1.5

现在经过2个小时的工作来了解问题后，我在命令find_package（）中找到了它。在实践中，当我运行“cmake ..”时，它返回错误的pcl库（点云库）路径。确实这是“cmake ..”的输出：

-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- checking for module 'eigen3'
--   found eigen3, version 3.0.5
-- Found eigen: /usr/include/eigen3 
-- Boost version: 1.46.1
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
-- checking for module 'flann'
--   found flann, version 1.7.1
-- Found Flann: /opt/ros/fuerte/lib/libflann_cpp_s.a 
-- checking for module 'openni-dev'
--   found openni-dev, version 1.5.2.23~precise
-- Found openni: /usr/lib/libOpenNI.so 
-- Found libusb-1.0: /usr/include 
-- Found qhull: /usr/lib/libqhull.so 
-- looking for PCL_COMMON
-- Found PCL_COMMON: /opt/ros/fuerte/lib/libpcl_common.so 
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /opt/ros/fuerte/lib/libpcl_kdtree.so 
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /opt/ros/fuerte/lib/libpcl_octree.so 
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /opt/ros/fuerte/lib/libpcl_search.so 
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /opt/ros/fuerte/lib/libpcl_sample_consensus.so 
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /opt/ros/fuerte/lib/libpcl_filters.so 
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /opt/ros/fuerte/lib/libpcl_tracking.so 
-- looking for PCL_IO
-- Found PCL_IO: /opt/ros/fuerte/lib/libpcl_io.so 
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /opt/ros/fuerte/lib/libpcl_features.so 
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /opt/ros/fuerte/lib/libpcl_registration.so 
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /opt/ros/fuerte/lib/libpcl_segmentation.so 
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /opt/ros/fuerte/lib/libpcl_surface.so 
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /opt/ros/fuerte/lib/libpcl_visualization.so 
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /opt/ros/fuerte/lib/libpcl_keypoints.so 
-- Found PCL: /usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;pthread;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;optimized;/opt/ros/fuerte/lib/libpcl_common.so;debug;/opt/ros/fuerte/lib/libpcl_common.so;optimized;/opt/ros/fuerte/lib/libflann_cpp_s.a;debug;/opt/ros/fuerte/lib/libflann_cpp_s-gd.a;optimized;/opt/ros/fuerte/lib/libpcl_kdtree.so;debug;/opt/ros/fuerte/lib/libpcl_kdtree.so;optimized;/opt/ros/fuerte/lib/libpcl_octree.so;debug;/opt/ros/fuerte/lib/libpcl_octree.so;optimized;/opt/ros/fuerte/lib/libpcl_search.so;debug;/opt/ros/fuerte/lib/libpcl_search.so;optimized;/opt/ros/fuerte/lib/libpcl_sample_consensus.so;debug;/opt/ros/fuerte/lib/libpcl_sample_consensus.so;optimized;/opt/ros/fuerte/lib/libpcl_filters.so;debug;/opt/ros/fuerte/lib/libpcl_filters.so;optimized;/opt/ros/fuerte/lib/libpcl_tracking.so;debug;/opt/ros/fuerte/lib/libpcl_tracking.so;/usr/lib/libOpenNI.so;vtkCommon;vtkRendering;vtkHybrid;optimized;/opt/ros/fuerte/lib/libpcl_io.so;debug;/opt/ros/fuerte/lib/libpcl_io.so;optimized;/opt/ros/fuerte/lib/libpcl_features.so;debug;/opt/ros/fuerte/lib/libpcl_features.so;optimized;/opt/ros/fuerte/lib/libpcl_registration.so;debug;/opt/ros/fuerte/lib/libpcl_registration.so;optimized;/opt/ros/fuerte/lib/libpcl_segmentation.so;debug;/opt/ros/fuerte/lib/libpcl_segmentation.so;optimized;/usr/lib/libqhull.so;debug;/usr/lib/libqhull.so;optimized;/opt/ros/fuerte/lib/libpcl_surface.so;debug;/opt/ros/fuerte/lib/libpcl_surface.so;optimized;/opt/ros/fuerte/lib/libpcl_visualization.so;debug;/opt/ros/fuerte/lib/libpcl_visualization.so;optimized;/opt/ros/fuerte/lib/libpcl_keypoints.so;debug;/opt/ros/fuerte/lib/libpcl_keypoints.so (Required is at least version "1.2")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jacopo/dev/university/prova/build

如您所见，它返回通过Synaptic Package Manager在“/ opt / ros”目录上安装的特定ros（Robot操作系统）包的pcl库的路径。正确的pcl库和包含在“/usr/include/pcl.1.5”和“/ usr / lib”中。

卸载ros时，find_package返回正确的路径，我可以毫无问题地编译和构建。但是因为我需要大学的ros，同时我需要cmake，我怎么能让cmake工作安装ros？有什么想法吗？

Answer 1

您可以在find_package命令中微调搜索路径：

find_package(PCL 1.2 REQUIRED PATHS /usr NO_DEFAULT_PATH)

这可能有点蛮力;当CMake搜索包时，你可以找到一种更好的方法来排除/opt。

顺便说一句，你可能不应该使用link_directories。文档说明了为什么通常不需要它。

find_package（PCL 1.2 REQUIRED）使用CMake返回错误的路径

1 个答案: