OS: Ubuntu20.04
PCL Info:
Package: libpcl-dev
Version: 1.10.0+dfsg-5ubuntu1
Priority: extra
Section: universe/libdevel
Source: pcl
Origin: Ubuntu
I installed PCL by sudo apt install libpcl-dev
. and used it like this:
cmake_minimum_required(VERSION 3.5)
project(test)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
endif()
# find dependencies
find_package(PCL REQUIRED)
some errors occured when I build the project:
CMake Error at /lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:62 (message):
PCL can not be found on this machine
Call Stack (most recent call first):
/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:452 (pcl_report_not_found)
CMakeLists.txt:37 (find_package)
-- Configuring incomplete, errors occurred!
I'm trying to debug the cmake source code in /lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:418-454
, The cmake source is shown below:
find_package(PkgConfig QUIET)
file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
if(WIN32 AND NOT MINGW)
# PCLConfig.cmake is installed to PCL_ROOT/cmake
get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
else()
# PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../../.." ABSOLUTE)
endif()
# check whether PCLConfig.cmake is found into a PCL installation or in a build tree
if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
# Found a PCL installation
# pcl_message("Found a PCL installation")
set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib/x86_64-linux-gnu")
if(EXISTS "${PCL_ROOT}/3rdParty")
set(PCL_ALL_IN_ONE_INSTALLER ON)
endif()
elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
# Found a non-standard (likely ANDROID) PCL installation
# pcl_message("Found a PCL installation")
set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
if(EXISTS "${PCL_ROOT}/3rdParty")
set(PCL_ALL_IN_ONE_INSTALLER ON)
endif()
elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
# Found PCLConfig.cmake in a build tree of PCL
# pcl_message("PCL found into a build tree.")
set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
set(PCL_LIBRARY_DIRS "${PCL_DIR}/lib/x86_64-linux-gnu")
set(PCL_SOURCES_TREE "/build/pcl-gWGA5r/pcl-1.10.0+dfsg")
else()
pcl_report_not_found("PCL can not be found on this machine")
endif()
Through debugging, I found that the environment variable PCL_ROOT
is set to /
and PCL_DIR
is set to /lib/x86_64-linux-gnu/cmake/pcl
. So, It can't find correct PCL include directory(the correct PCL include dir is /usr/include/pcl-1.10
) and lead to cmake error.
So, what's the problem with my PCL, and how can I find PCL by find_package(PCL REQUIRED)
successfully? Thanks a lot!
An easy way to "change the location" of something is to create a symlink. In this case, you'd do:
sudo mkdir /lib/x86_64-linux-gnu/cmake/pcl/include
sudo ln -s /usr/include/pcl-1.10/pcl /lib/x86_64-linux-gnu/cmake/pcl/include/pcl
Then you'll probably hit:
No such file or directory
#include <Eigen/Core>
Fix it in the same way:
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
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