CMake 构建 OpenCV、PCL项目 vscode include 去波浪线

CMake 构建 OpenCV、PCL项目

项目cmake时出现错误

CMake Error: Boost not Found(common is required but boost was not found)

解决方法:

$locate libboost_system

找到Boost_LIBRARY路径，CMakeLists.txt内添加

set(Boost_LIBRARY_DIR /usr/lib/x86_64-linux-gnu/)

最后，完整的CMakeLists.txt：

CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

# 项目名称
PROJECT(Test)

# 设置boost路径
set(Boost_LIBRARY_DIR "/usr/lib/x86_64-linux-gnu/")

# 找opencv package
find_package(OpenCV REQUIRED) 

# 设置PCL路径
set(PCL_DIR "/usr/local/include/pcl-1.9")
find_package(PCL 1.9 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

set(CMAKE_C_COMPILER "gcc")
set(CMAKE_CXX_COMPILER "g++")
set(CMAKE_CXX_STANDARD 11)

# 根目录/代码路径
aux_source_directory(. DIR_MAIN)

# dubug 模式
set (CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -g")

# 编译成可执行文件
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/build) 
add_executable(Test PolyocularReconstruction.cpp)

# 链接opencv、PCL库
target_link_libraries(Test ${OpenCV_LIBS})
target_link_libraries(Test ${PCL_LIBRARIES})

参考：
https://blog.youkuaiyun.com/linear_luo/article/details/52650845
https://blog.youkuaiyun.com/xiangxianghehe/article/details/79028186

找不到文件pcl/visualization/cloud_viewer.h

#include <pcl/visualization/cloud_viewer.h>出错 说是找不到这个文件
去pcl安装位置看了下，确实找不到visualization文件夹，是安装pcl时没有勾选vtk的问题，所以，重装pcl。

1. 卸载pcl
   在pcl编译的文件夹中，

cd pcl
cd build 
sudo make uninstall 
cd ..
rm -rf build

把装好了的pcl卸了

2. 安装vtk

 sudo apt install tcl-vtk
 sudo apt-get install libvtk6.2 libvtk6.2-qt libvtk6-dev

3. 重新编译pcl

cd pcl
mkdir build
cd build
cmake-gui 
// 也可以：cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON
make // 可以make -j8 加速，但我的电脑容易崩。。。直接make最稳定
sudo make install

cmake选项

WITH_VTK=ON
CMAKE_BUILD_TYPE=None
BUILD_GPU=ON
BUILD_apps=ON
BUILD_examples=ON

最后 在/usr/local/include/pcl-1.9/pcl/下，终于找到了visualization文件夹

参考： https://blog.youkuaiyun.com/weixin_39750861/article/details/92703412

vscode include 去波浪线

当cpp文件中加入

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

后， 这部分会加波浪线。
解决办法：

4. F1
5. C/C++: edit configurations(JSON)
   生成 c_cpp_properties.json 文件
6. 修改 c_cpp_properties.json文件，如下

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/local/include/pcl-1.9" /添加pcl路径
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "intelliSenseMode": "clang-x64"
        }
    ],
    "version": 4
}

参考：https://blog.youkuaiyun.com/zhulinmanbu114/article/details/90236490