网站没有访问量,深圳 营销型网站公司,泉州seo顾问,怎样做平台推广【PCL】mac下安装PCL的安装与配置
PCL
PCL官方文档 PCL#xff08;Point Cloud Library#xff09;是在吸收了前人点云相关研究基础上建立起来的大型跨平台开源C编程库#xff0c;它实现了大量点云相关的通用算法和高效数据结构#xff0c;涉及到点云获取、滤波、分割、配…【PCL】mac下安装PCL的安装与配置
PCL
PCL官方文档 PCLPoint Cloud Library是在吸收了前人点云相关研究基础上建立起来的大型跨平台开源C编程库它实现了大量点云相关的通用算法和高效数据结构涉及到点云获取、滤波、分割、配准、检索、特征提取、识别、追踪、曲面重建、可视化等。支持多种操作系统平台可在Windows、Linux、Android、Mac OS X、部分嵌入式实时系统上运行。如果说OpenCV是2D信息获取与处理的结晶那么PCL就在3D信息获取与处理上具有同等地位PCL是BSD授权方式可以免费进行商业和学术应用。 通常在 windows 平台下安装 PCL 算是比较简单的,他的每一个版本都有一个 pcl 对应的的 AllInOne的一个安装的exe 软件 。或者也可以用 vcpkg 直接集成但是mac下 安装的话更为简单。 PCL Download github Download
第一步安装homebrew
打开终端 输入
ruby -e $(curl --insecure -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install) 接下来等待安装完毕即可
第二步使用homebrew安装pcl
也很简单打开终端输入
brew install pcl首先会安装PCL的相关依赖库如vtkglew等最后安装pcl
第三步: PCL的编译
这一步是最麻烦的由于之前更多地在Windows上进行开发更没有接触过cmake所以碰到了许多稀奇古怪的问题。
1. 在工程目录下如Desktop/PCLtest/)新建文件CMakeLists.txt在该文件中写入
cmake_minimum_required(VERSION 3.0 FATAL_ERROR) # 选择cmake版本project(PCLtest) # 给工程命名find_package(PCL 1.4 REQUIRED COMPONENTS common io) # 使用find_package寻找指定版本PCL的指定模块如果想导入全部模块也可以写为 find_package(PCL REQUIRED) include_directories(${PCL_INCLUDE_DIRS})link_directories(${PCL_LIBRARY_DIRS})add_definitions(${PCL_DEFINITIONS})add_executable(PCLtest main.cpp)target_link_libraries(PCLtest ${PCL_LIBRARIES})2. 在工程目录下新建文件main.cpp并写入
#include iostream
#include pcl/io/pcd_io.h
#include pcl/point_types.hintmain (int argc, char** argv)
{pcl::PointCloudpcl::PointXYZ cloud;// Fill in the cloud datacloud.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);
}3. 生成Cmake工程
在 CMakeLists.txt 同级目录下 (如Desktop/PCLtest)下 打开终端或者进入从家目录下进到这个目录
cmake -S . -B build4. 打开终端进行编译
同样 同级目录
cmake --build buildcmake后屏幕输出
/Applications/CLion.app/Contents/bin/cmake/mac/bin/cmake -DCMAKE_BUILD_TYPEDebug -G CodeBlocks - Unix Makefiles /Users/zhi/Desktop/PCLtest
-- The C compiler identification is AppleClang 10.0.1.10010046
-- The CXX compiler identification is AppleClang 10.0.1.10010046
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Checking for module eigen3
-- Found eigen3, version 3.3.7
-- Found Eigen: /usr/local/include/eigen3
-- Eigen found (include: /usr/local/include/eigen3, version: 3.3.7)
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - found
-- Found Threads: TRUE
-- Boost version: 1.70.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- chrono
-- atomic
-- regex
-- Checking for module flann
-- Found flann, version 1.9.1
-- FLANN found (include: /usr/local/Cellar/flann/1.9.1_7/include, lib: flann;flann_cpp)
-- FLANN found (include: /usr/local/Cellar/flann/1.9.1_7/include, lib: flann;flann_cpp)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- Found libusb-1.0: /usr/local/include
** WARNING ** io features related to libusb-1.0 will be disabled
-- Found Qhull: optimized;/usr/local/lib/libqhull_p.dylib;debug;/usr/local/lib/libqhull_p.dylib
-- QHULL found (include: /usr/local/include, lib: optimized;/usr/local/lib/libqhull_p.dylib;debug;/usr/local/lib/libqhull_p.dylib)
-- Found OpenGL: /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk/System/Library/Frameworks/OpenGL.framework
-- Found PkgConfig: /usr/local/bin/pkg-config (found version 0.29.2)
-- Checking for module glew
-- Found glew, version 2.1.0
-- Found Glew: GLEW;-framework Cocoa
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.dylib
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.dylib
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.dylib
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.dylib
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.dylib
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.dylib
-- looking for PCL_2D
-- Found PCL_2D: /usr/local/include/pcl-1.9
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.9
-- looking for PCL_IO
-- Found PCL_IO: /usr/local/lib/libpcl_io.dylib
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.dylib
-- looking for PCL_ML
-- Found PCL_ML: /usr/local/lib/libpcl_ml.dylib
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.dylib
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.dylib
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.dylib
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.dylib
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.dylib
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.dylib
-- looking for PCL_RECOGNITION
-- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.dylib
-- looking for PCL_STEREO
-- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.dylib
-- looking for PCL_APPS
-- Found PCL_APPS: /usr/local/lib/libpcl_apps.dylib
-- looking for PCL_OUTOFCORE
-- Found PCL_OUTOFCORE: /usr/local/lib/libpcl_outofcore.dylib
-- looking for PCL_PEOPLE
-- Found PCL_PEOPLE: /usr/local/lib/libpcl_people.dylib
-- looking for PCL_SIMULATION
-- Found PCL_SIMULATION: /usr/local/lib/libpcl_simulation.dylib
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;pcl_simulation;/usr/local/lib/libboost_system-mt.dylib;/usr/local/lib/libboost_filesystem-mt.dylib;/usr/local/lib/libboost_thread-mt.dylib;/usr/local/lib/libboost_date_time-mt.dylib;/usr/local/lib/libboost_iostreams-mt.dylib;/usr/local/lib/libboost_serialization-mt.dylib;/usr/local/lib/libboost_chrono-mt.dylib;/usr/local/lib/libboost_atomic-mt.dylib;/usr/local/lib/libboost_regex-mt.dylib;optimized;/usr/local/lib/libqhull_p.dylib;debug;/usr/local/lib/libqhull_p.dylib;flann;flann_cpp;vtksys;vtkCommonCore;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonDataModel;vtkCommonColor;vtkCommonExecutionModel;vtkCommonComputationalGeometry;vtkFiltersCore;vtkFiltersGeneral;vtkImagingCore;vtkImagingFourier;vtkFiltersStatistics;vtkFiltersExtraction;vtkInfovisCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingCore;/usr/lib/libz.dylib;vtkfreetype;vtkRenderingFreeType;vtkRenderingContext2D;vtkChartsCore;vtkDICOMParser;vtkdoubleconversion;vtklz4;vtklzma;vtkIOCore;vtkIOLegacy;/usr/lib/libexpat.dylib;vtkIOXMLParser;vtkDomainsChemistry;vtkglew;vtkRenderingOpenGL2;vtkDomainsChemistryOpenGL2;vtkIOXML;vtkParallelCore;vtkFiltersAMR;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkImagingSources;vtkFiltersHybrid;vtkFiltersHyperTree;vtkImagingGeneral;vtkFiltersImaging;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelImaging;vtkFiltersPoints;vtkFiltersProgrammable;/usr/local/opt/python/Frameworks/Python.framework/Versions/3.7/Python;vtkPythonInterpreter;vtkWrappingTools;vtkWrappingPythonCore;vtkFiltersPython;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersTopology;verdict;vtkFiltersVerdict;vtkInteractionStyle;vtkGUISupportQt;vtksqlite;vtkIOSQL;vtkGUISupportQtSQL;vtkmetaio;/usr/local/lib/libjpeg.dylib;/usr/local/lib/libpng.dylib;/usr/local/lib/libtiff.dylib;vtkIOImage;vtkImagingHybrid;vtkInfovisLayout;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkInteractionWidgets;vtkViewsCore;vtklibproj;vtkGeovisCore;/usr/local/lib/libhdf5.dylib;/usr/local/lib/libsz.dylib;/usr/lib/libdl.dylib;/usr/lib/libm.dylib;/usr/local/lib/libhdf5_hl.dylib;vtkIOAMR;vtkIOAsynchronous;vtkpugixml;vtkIOCityGML;vtkIOEnSight;/usr/local/lib/libnetcdf.dylib;vtkexodusII;vtkIOExodus;vtkgl2ps;vtkRenderingGL2PSOpenGL2;vtkIOExport;vtkIOExportOpenGL2;vtklibharu;vtkIOExportPDF;vtkIOGeometry;vtkIOImport;/usr/lib/libxml2.dylib;vtkIOInfovis;vtkIOLSDyna;vtkIOMINC;vtkogg;vtktheora;vtkIOMovie;vtkIONetCDF;vtkIOPLY;vtkjsoncpp;vtkIOParallel;vtkIOParallelXML;vtkIOSegY;vtkIOTecplotTable;vtkIOVeraOut;vtkIOVideo;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInfovisBoostGraphAlgorithms;vtkInteractionImage;vtkPythonContext2D;vtkRenderingContextOpenGL2;vtkRenderingFreeTypeFontConfig;vtkRenderingImage;vtkRenderingLOD;vtkRenderingLabel;vtkRenderingQt;vtkRenderingVolumeOpenGL2;vtkViewsContext2D;vtkViewsInfovis;vtkViewsQt
-- Configuring done
-- Generating done
-- Build files have been written to: /Users/zhi/Desktop/PCLtest/cmake-build-debugmake后输出
Scanning dependencies of target PCLtest
[ 50%] Building CXX object CMakeFiles/PCLtest.dir/main.cpp.o
[100%] Linking CXX executable PCLtest
[100%] Built target PCLtest编译成功后运行工程
./pcd_write_test运行结果
Saved 5 data points to test_pcd.pcd.0.0080142 0.694695 -0.26015-0.342265 -0.446349 0.2142070.173687 -0.84253 -0.400481-0.874475 0.706127 -0.1176350.908514 -0.598159 0.744714使用CLion配置PCL
打开CLion新建工程工程自动给出CMakeLists.txt和main.cpp在对应文件中写入内容后运行即可
配置过程中出现的各种奇怪问题
在编译前检查是否安装cmake若没有安装直接brew install cmake即可尽量使用gcc进行编译若没有安装直接brew install gcc亲身验证使用clang也可以。。。在编译过程中一直出现错误病急乱投医一度认为是编译器的问题由于mac默认c编译器为clang如果想使用gcc编译参考CMake 指定gcc编译版本
export CC/usr/local/bin/gcc #你的gcc编译器路径
export CXX/usr/local/bin/g
cmake /path/to/your/project
make 整个过程中最烦心的错误出现了搜索全网都没有找到与我出现相同错误的同学此时cmake是成功的但是在make时提示出现错误
Scanning dependencies of target pcd_write_test
[ 50%] Building CXX object CMakeFiles/pcd_write_test.dir/pcd_write.cpp.o
make[2]: *** No rule to make target /usr/local/Cellar/python/3.7.3/Frameworks/Python.framework/Versions/3.7/Python, needed by pcd_write_test. Stop.
make[1]: *** [CMakeFiles/pcd_write_test.dir/all] Error 2
make: *** [all] Error 2解决方案非常粗暴找到文件夹/usr/local/Cellar/python/发现里面只有一个文件夹3.7.4直接将其文件夹名称改为3.7.3问题解决
