Mac配置PCL项目 Xcode创建PCL工程 超详细，一步到位

1. Mac配置PCL项目：
   1. 预安装
   2. 生成
2. 创建Xcode的PCL工程（更简单）：
   1. 预安装
   2. 生成

 

 

1.1预安装：Xcode，homebrew，pcl，cmake

1.2生成项目:参考 Use PCL in your own project:

然后使用terminal查询安装信息：

$brew info pcl

结果如此：

确定pcl安装完成；

注意：确定完cmake，pcl才进入生成。

2.用terminal生成可执行文件：

新建一个文件夹，里面包含两个文件。CMakeLists.txt 和 pcd_write.cpp 。

CMakeList.txt 如下，各行解释（英文）：

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(MY_GRAND_PROJECT)
find_package(PCL 1.3 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_LIBRARIES})

pcd_write.cpp 如下，各行解释（英文）：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int
  main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // Fill in the cloud data
  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);
}

-- 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
-- Found PCL_IO: /usr/local/lib/libpcl_io.so
-- Found PCL: /usr/local/lib/libpcl_io.so (Required is at least version "1.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /PATH/TO/MY/GRAND/PROJECT/build

 

两个文件完成，用terminal：

$ cd /刚刚/文件夹/的位置
$ mkdir build
$ cd build
$ cmake ..

结果如下：

-- 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
-- Found PCL_IO: /usr/local/lib/libpcl_io.so
-- Found PCL: /usr/local/lib/libpcl_io.so (Required is at least version "1.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /PATH/TO/MY/GRAND/PROJECT/build

再：

$ make

Scanning dependencies of target pcd_write_test
[100%] Building CXX object
CMakeFiles/pcd_write_test.dir/pcd_write.cpp.o
Linking CXX executable pcd_write_test
[100%] Built target pcd_write_test

$ ./pcd_write_test

Saved 5 data points to test_pcd.pcd.
  0.352222 -0.151883 -0.106395
  -0.397406 -0.473106 0.292602
  -0.731898 0.667105 0.441304
  -0.734766 0.854581 -0.0361733
  -0.4607 -0.277468 -0.916762

至此，安装pcl以及测试pcl写文件都已完成。

下面进行更简单的生成Xcode的pcl项目。
上面命令行没看懂的，可以图形界面的更简单。

 

2.1预安装：GUI版的Cmake，然后使用homebrew安装PCL。

2.2生成项目：

新建文件夹，里面包含两个文件。CMakeLists.txt 和 pcd_write.cpp。具体可参考上文。

打开cmake：

注意选择编译器（Xcode）：

 

在新建文件目录下：有个.xcodeproj文件，打开，进入Xcode的界面，Command+b，编译，Debug文件夹中生成可执行文件。

用terminal，cd /到Debug/文件夹，然后： ./pcd_write_test 

完成，生成结果，简单。后面我就略略的讲了，不会的话再问我。

 

祝好。