PCL1.9的PCLConfig.cmake文件找不到eigen等外部依赖

由于需要用到PCL中on_nurbs模块做拟合，但是ros自带的pcl中没有该模块。所以源码安装了PCL 1.9，但是在使用过程中遇到了如下问题。

1. 安装过程

1.安装如下依赖项

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
#sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev //会卸载ros安装的部分软件包
#sudo apt-get install libqhull* libgtest-dev//安装不了，改成下一句命令
sudo apt-get install libgtest-dev libqhull-dev libqhull-doc
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

但是在安装vtk5.10库文件的时候会删除ros中的相关文件，所以跳过了该命令。

下载PCL源代码

git clone https://github.com/PointCloudLibrary/pcl.git

下载过程更换成手机热点，从而达到高速下载速度。

3、编译安装

ls
cd pcl
mkdir release
cd release cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr ..
make -j8
sudo make install

4、如果需要PCLVisualizer，安装OpenNI、OpenNI2

sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev

2. PCLConfig.cmake文件找不到eigen等外部依赖

在将PCL成功编译安装之后，在项目的CMakeLists.txt中文件中添加如下语句，用于添加PCL相关库文件：

set(PCL_DIR /home/Andy/my_workspace/pcl-master/release)
find_package(PCL REQUIRED COMPONENTS)
find_package(Eigen3 REQUIRED)
list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")include_directories( ${PCL_INCLUDE_DIRS} )
link_directories(${PCL_LIBRARY_DIRS})
add_definitions( ${PCL_DEFINITIONS} )

但是在 cmake的过程中会提示出现如下问题：

By not providing "FindEigen.cmake" in CMAKE_MODULE_PATH this project hasasked CMake to find a package configuration file provided by "Eigen", butCMake did not find one.Could not find a package configuration file provided by "Eigen" (requestedversion 3.1) with any of the following names:EigenConfig.cmakeeigen-config.cmakeAdd the installation prefix of "Eigen" to CMAKE_PREFIX_PATH or set"Eigen_DIR" to a directory containing one of the above files.  If "Eigen"provides a separate development package or SDK, be sure it has beeninstalled.
Call Stack (most recent call first):/home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:314 (find_eigen)/home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:547 (find_external_library)CMakeLists.txt:32 (find_package)CMake Error at /home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:60 (message):common is required but eigen was not found
Call Stack (most recent call first):/home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:365 (pcl_report_not_found)/home/Andy/my_workspace/pcl-master/release/PCLConfig.cmake:547 (find_external_library)CMakeLists.txt:32 (find_package)-- Configuring incomplete, errors occurred!
See also "/home/Andy/my_workspace/Code/Clion_code/PCL_example/PCL_Curve_Fitting/build/CMakeFiles/CMakeOutput.log".
See also "/home/Andy/my_workspace/Code/Clion_code/PCL_example/PCL_Curve_Fitting/build/CMakeFiles/CMakeError.log".

产生这个问题的原因在于PCLConfig.cmake文件找不到eigen依赖。
可以将PCLConfig.cmake文件中的find_eigen函数改为如下形式：

macro(find_eigen)if(PCL_ALL_IN_ONE_INSTALLER)set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")elseif(NOT EIGEN_ROOT)get_filename_component(EIGEN_ROOT "/usr/include/eigen3" ABSOLUTE)endif(PCL_ALL_IN_ONE_INSTALLER)if(PKG_CONFIG_FOUND)pkg_check_modules(PC_EIGEN eigen3)endif(PKG_CONFIG_FOUND)find_path(EIGEN_INCLUDE_DIRS Eigen/CoreHINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"PATHS "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0""$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"   PATH_SUFFIXES eigen3 include/eigen3 include)find_package_handle_standard_args(eigen DEFAULT_MSG EIGEN_INCLUDE_DIRS)set(EIGEN_DEFINITIONS ${EIGEN_DEFINITIONS} -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
endmacro()

修改之后，重新编译还有报错，提示找不到OpenNIConfig.cmake。同理需要将PCLConfig.cmake文件中相应的函数进行修改。

改完之后，将成功编译。

完整的PCLConfig.cmake我以上传。可以直接下载，替换掉原来的PCLConfig.cmake文件。
PCLConfig.cmake