Creating a project using PCL (Point Cloud Library) on Mac OS X

Question

I installed all the dependencies and the precompiled PCL library, as it was suggested on the site .

After I installed everything that I wanted to create, follow this tutorial.

After running the make command, I get a few warnings and the following two errors:

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 

Anyone have any suggestions on how to fix this?

I am using Mac OS X 10.9.4.

Answer 1

in mac-book pro yosemite (10.10.3), I did the following to run pcl-tutorial (pcd_write.cpp).

in 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}) 

ccmake works .. in the build directory gives

  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 

and code i compiled successfully

 #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; } 

... hope this is helpful to someone!

Nik