Projekt mit PCL (Point Cloud Library) unter Mac OS X generieren

Question

Ich habe alle Abhängigkeiten und die vorkompilierte PCL-Bibliothek installiert, wie es auf ihrer site vorgeschlagen wurde.

Nachdem ich alles installiert hatte, wollte ich ein Projekt nach this Tutorial erstellen.

Nach dem Ausführen der ‚make‘ Befehl erhalte ich mehrere Warnungen und die folgenden zwei Fehler:

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 

Jeder hat irgendwelche Vorschläge, wie dieses Problem beheben?

Ich benutze Mac OS X 10.9.4.

Answer 1

auf einem Mac-Buch pro Yosemite (10.10.3) Ich habe die folgenden getan, um das PCL-Tutorial (pcd_write.cpp) laufen zu lassen.

im 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}) 

läuft ccmake .. in Build-Verzeichnis

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 

gibt und der Code i

#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; 
} 

erfolgreich

zusammengestellt ... hoffen, seine Nützlich für jemanden!

nik