我正在尝试使this tutorial适用于各种点云。
我确实找到了this和this的答案，但似乎无法使它们适合我的情况。
我正在尝试执行“ CMake”和“ Make”命令来构建C ++文件。
我已经成功运行了此Correspondence Grouping tutorial。请帮助我是点云计算的初学者。
OS：Ubuntu 18.04
这里是我的错误的片段：
Scanning dependencies of target pairwise_incremental_registration
[ 50%] Building CXX object CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o
/home/sparsh/Desktop/incremental_pair_clouds/pairwise_incremental_registration.cpp:41:10: fatal error: pcl/memory.h: No such file or directory
#include <pcl/memory.h> // for pcl::make_shared
^~~~~~~~~~~~~~
compilation terminated.
CMakeFiles/pairwise_incremental_registration.dir/build.make:62: recipe for target 'CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o' failed
make[2]: *** [CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/pairwise_incremental_registration.dir/all' failed
make[1]: *** [CMakeFiles/pairwise_incremental_registration.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
我的CMakeLists.txt是：
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
project(tuto-pairwise)
find_package(PCL 1.4 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (pairwise_incremental_registration pairwise_incremental_registration.cpp)
target_link_libraries (pairwise_incremental_registration ${PCL_LIBRARIES})
生成的我的Makefile是：-
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.10
# Default target executed when no arguments are given to make.
default_target: all
.PHONY : default_target
# Allow only one "make -f Makefile2" at a time, but pass parallelism.
.NOTPARALLEL:
#=============================================================================
# Special targets provided by cmake.
# Disable implicit rules so canonical targets will work.
.SUFFIXES:
# Remove some rules from gmake that .SUFFIXES does not remove.
SUFFIXES =
.SUFFIXES: .hpux_make_needs_suffix_list
# Suppress display of executed commands.
$(VERBOSE).SILENT:
# A target that is always out of date.
cmake_force:
.PHONY : cmake_force
#=============================================================================
# Set environment variables for the build.
# The shell in which to execute make rules.
SHELL = /bin/sh
# The CMake executable.
CMAKE_COMMAND = /usr/bin/cmake
# The command to remove a file.
RM = /usr/bin/cmake -E remove -f
# Escaping for special characters.
EQUALS = =
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/sparsh/Desktop/incremental_pair_clouds
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/sparsh/Desktop/incremental_pair_clouds/build
#=============================================================================
# Targets provided globally by CMake.
# Special rule for the target rebuild_cache
rebuild_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
.PHONY : rebuild_cache
# Special rule for the target rebuild_cache
rebuild_cache/fast: rebuild_cache
.PHONY : rebuild_cache/fast
# Special rule for the target edit_cache
edit_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
.PHONY : edit_cache
# Special rule for the target edit_cache
edit_cache/fast: edit_cache
.PHONY : edit_cache/fast
# The main all target
all: cmake_check_build_system
$(CMAKE_COMMAND) -E cmake_progress_start /home/sparsh/Desktop/incremental_pair_clouds/build/CMakeFiles /home/sparsh/Desktop/incremental_pair_clouds/build/CMakeFiles/progress.marks
$(MAKE) -f CMakeFiles/Makefile2 all
$(CMAKE_COMMAND) -E cmake_progress_start /home/sparsh/Desktop/incremental_pair_clouds/build/CMakeFiles 0
.PHONY : all
# The main clean target
clean:
$(MAKE) -f CMakeFiles/Makefile2 clean
.PHONY : clean
# The main clean target
clean/fast: clean
.PHONY : clean/fast
# Prepare targets for installation.
preinstall: all
$(MAKE) -f CMakeFiles/Makefile2 preinstall
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# Prepare targets for installation.
preinstall/fast:
$(MAKE) -f CMakeFiles/Makefile2 preinstall
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# clear depends
depend:
$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
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#=============================================================================
# Target rules for targets named pairwise_incremental_registration
# Build rule for target.
pairwise_incremental_registration: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 pairwise_incremental_registration
.PHONY : pairwise_incremental_registration
# fast build rule for target.
pairwise_incremental_registration/fast:
$(MAKE) -f CMakeFiles/pairwise_incremental_registration.dir/build.make CMakeFiles/pairwise_incremental_registration.dir/build
.PHONY : pairwise_incremental_registration/fast
pairwise_incremental_registration.o: pairwise_incremental_registration.cpp.o
.PHONY : pairwise_incremental_registration.o
# target to build an object file
pairwise_incremental_registration.cpp.o:
$(MAKE) -f CMakeFiles/pairwise_incremental_registration.dir/build.make CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o
.PHONY : pairwise_incremental_registration.cpp.o
pairwise_incremental_registration.i: pairwise_incremental_registration.cpp.i
.PHONY : pairwise_incremental_registration.i
# target to preprocess a source file
pairwise_incremental_registration.cpp.i:
$(MAKE) -f CMakeFiles/pairwise_incremental_registration.dir/build.make CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.i
.PHONY : pairwise_incremental_registration.cpp.i
pairwise_incremental_registration.s: pairwise_incremental_registration.cpp.s
.PHONY : pairwise_incremental_registration.s
# target to generate assembly for a file
pairwise_incremental_registration.cpp.s:
$(MAKE) -f CMakeFiles/pairwise_incremental_registration.dir/build.make CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.s
.PHONY : pairwise_incremental_registration.cpp.s
# Help Target
help:
@echo "The following are some of the valid targets for this Makefile:"
@echo "... all (the default if no target is provided)"
@echo "... clean"
@echo "... depend"
@echo "... rebuild_cache"
@echo "... pairwise_incremental_registration"
@echo "... edit_cache"
@echo "... pairwise_incremental_registration.o"
@echo "... pairwise_incremental_registration.i"
@echo "... pairwise_incremental_registration.s"
.PHONY : help
#=============================================================================
# Special targets to cleanup operation of make.
# Special rule to run CMake to check the build system integrity.
# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
cmake_check_build_system:
$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system
VERBOSE = 1之后，make的输出
/usr/bin/cmake -H/home/sparsh/Desktop/incremental_pair_clouds -
B/home/sparsh/Desktop/incremental_pair_clouds/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/sparsh/Desktop/incremental_pair_clouds/build/CMakeFiles /home/sparsh/Desktop/incremental_pair_clouds/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/sparsh/Desktop/incremental_pair_clouds/build'
make -f CMakeFiles/pairwise_incremental_registration.dir/build.make CMakeFiles/pairwise_incremental_registration.dir/depend
make[2]: Entering directory '/home/sparsh/Desktop/incremental_pair_clouds/build'
cd /home/sparsh/Desktop/incremental_pair_clouds/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/sparsh/Desktop/incremental_pair_clouds /home/sparsh/Desktop/incremental_pair_clouds /home/sparsh/Desktop/incremental_pair_clouds/build /home/sparsh/Desktop/incremental_pair_clouds/build /home/sparsh/Desktop/incremental_pair_clouds/build/CMakeFiles/pairwise_incremental_registration.dir/DependInfo.cmake --color=
make[2]: Leaving directory '/home/sparsh/Desktop/incremental_pair_clouds/build'
make -f CMakeFiles/pairwise_incremental_registration.dir/build.make CMakeFiles/pairwise_incremental_registration.dir/build
make[2]: Entering directory '/home/sparsh/Desktop/incremental_pair_clouds/build'
[ 50%] Building CXX object CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o
/usr/bin/c++ -DDISABLE_DAVIDSDK -DDISABLE_DSSDK -DDISABLE_ENSENSO -DDISABLE_LIBUSB_1_0 -DDISABLE_PCAP -DDISABLE_PNG -DDISABLE_RSSDK -DFLANN_STATIC -DQT_CORE_LIB -DQT_GUI_LIB -DQT_NO_DEBUG -DQT_WIDGETS_LIB -Dqh_QHpointer -DvtkFiltersFlowPaths_AUTOINIT="1(vtkFiltersParallelFlowPaths)" -DvtkIOExodus_AUTOINIT="1(vtkIOParallelExodus)" -DvtkIOGeometry_AUTOINIT="1(vtkIOMPIParallel)" -DvtkIOImage_AUTOINIT="1(vtkIOMPIImage)" -DvtkIOParallel_AUTOINIT="1(vtkIOMPIParallel)" -DvtkIOSQL_AUTOINIT="2(vtkIOMySQL,vtkIOPostgreSQL)" -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL)" -DvtkRenderingFreeType_AUTOINIT="2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)" -DvtkRenderingLIC_AUTOINIT="1(vtkRenderingParallelLIC)" -DvtkRenderingVolume_AUTOINIT="1(vtkRenderingVolumeOpenGL)" -I/usr/include/vtk-6.3 -I/usr/include/freetype2 -I/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi -I/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent -I/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include -I/usr/lib/x86_64-linux-gnu/openmpi/include -I/usr/include/python2.7 -I/usr/include/x86_64-linux-gnu -I/usr/include/hdf5/openmpi -I/usr/include/libxml2 -I/usr/include/jsoncpp -I/usr/include/tcl -I/usr/include/pcl-1.8 -I/usr/include/eigen3 -I/usr/include/ni -I/usr/include/openni2 -isystem /usr/include/x86_64-linux-gnu/qt5 -isystem /usr/include/x86_64-linux-gnu/qt5/QtWidgets -isystem /usr/include/x86_64-linux-gnu/qt5/QtGui -isystem /usr/include/x86_64-linux-gnu/qt5/QtCore -isystem /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -fPIC -std=gnu++11 -o CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o -c /home/sparsh/Desktop/incremental_pair_clouds/pairwise_incremental_registration.cpp
/home/sparsh/Desktop/incremental_pair_clouds/pairwise_incremental_registration.cpp:41:10: fatal error: pcl/memory.h: No such file or directory
#include <pcl/memory.h> // for pcl::make_shared
^~~~~~~~~~~~~~
compilation terminated.
CMakeFiles/pairwise_incremental_registration.dir/build.make:62: recipe for target 'CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o' failed
make[2]: *** [CMakeFiles/pairwise_incremental_registration.dir/pairwise_incremental_registration.cpp.o] Error 1
make[2]: Leaving directory '/home/sparsh/Desktop/incremental_pair_clouds/build'
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/pairwise_incremental_registration.dir/all' failed
make[1]: *** [CMakeFiles/pairwise_incremental_registration.dir/all] Error 2
make[1]: Leaving directory '/home/sparsh/Desktop/incremental_pair_clouds/build'
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
/ usr / include / pcl-1.8 / pcl中存在的内容
/usr/include/pcl-1.8/pcl$ ls
2d for_each_type.h outofcore point_cloud.h ros
apps geometry pcl_base.h PointIndices.h sample_consensus
cloud_iterator.h impl pcl_config.h point_representation.h search
common in_hand_scanner pcl_exports.h point_traits.h segmentation
compression io PCLHeader.h point_types_conversion.h sse.h
console kdtree PCLImage.h point_types.h stereo
conversions.h keypoints pcl_macros.h PolygonMesh.h surface
correspondence.h ml PCLPointCloud2.h range_image TextureMesh.h
exceptions.h ModelCoefficients.h PCLPointField.h recognition tracking
features modeler pcl_tests.h register_point_struct.h Vertices.h
filters octree people registration visualization
本教程已针对最新的PCL版本（截至目前为1.10）进行了更新。<pcl/memory.h>不属于PCL 1.8。使用此旧版本的example与1.8兼容。