Mac下安装Xcode、PCL、Homebrew、Cmake

第一步：mac下镜像飞速安装Homebrew教程

在网上找的教程出现错误：

curl: (7) Failed to connect to raw.githubusercontent.com port 443: Operation timed out

参考了该帖子：

mac下镜像飞速安装Homebrew教程 - 知乎

1.终端输入：

/bin/bash -c "$(curl -fsSL https://gitee.com/ineo6/homebrew-install/raw/master/install.sh)"

回车安装

2.终端继续输入：brew update

再测试一下有没有安装成功：brew -v

软件都会安装到 /usr/local/Cellar

安装完成后，执行brew，就有提示

第二步：下载Xcode

由于AppStore下载不到Xcode的历史版本，需要我升级系统，这不科学！

用下面这个网址去搜索Xcode，然后下载系统可以下载的版本，我下载的11.5的

第三步：安装Cmake

1.Cmake官网下载地址：Download | CMake

2.安装

3.cmake配置

从菜单栏选择：Tools--How to Install For Command Line Use

如果你在命令行中输入 cmake --version，你会发现系统并不认识cmake这个命令。然后使用上面图中给出的第一种方法，即在命令行中输入：

PATH="/Applications/CMake.app/Contents/bin":"$PATH"

然后再执行cmake --version，系统就可以正确识别它了。

但是，这个方法只能管一时，在新开的命令行窗口中输入：

sudo "/Applications/CMake.app/Contents/bin/cmake-gui" --install

成功！

参考链接：在Mac OS中配置CMake的详细图文教程_libaineu2004的博客-CSDN博客

第四步：安装PCL

1.终端输入： brew install pcl

2.下载到一半断网了，不知道如何继续下载，然后就报错：curl: (56) LibreSSL SSL_read: SSL_ERROR_SYSCALL, errno 60

Error: pcl: Failed to download resource "boost"

终端重新输入：brew install pcl

这时，下载过的不会重新下载，他就会继续下载了～

3.出现报错：xcrun: error: active developer path ("/Users/zhanghong/Downloads/Xcode.app/Contents/Developer") does not exist Use `sudo xcode-select --switch path/to/Xcode.app` to specify the Xcode that you wish to use for command line developer tools, or use `xcode-select --install` to install the standalone command line developer tools.See `man xcode-select` for more details.

打开新的终端窗口：

输入命令查看安装路径：xcode-select -print-path

/Users/zhanghong/Downloads/Xcode.app/Contents/Developer

但我已经将 Xcode.app从下载文件夹移动到应用程序中了

真正的路径应该是：/Applications/Xcode.app/Contents/Developer

所以设置xcode-select到指定位置：

sudo xcode-select --switch /Applications/Xcode.app/Contents/Developer/

输入密码，再验证是否设置成功：xcode-select --print-path

得到：/Applications/Xcode.app/Contents/Developer ；说明安装路径修改成功

然后再次重新下载： brew install pcl

4.报错：

Error: The `brew link` step did not complete successfully
The formula built, but is not symlinked into /usr/local
Could not symlink bin/2to3
Target /usr/local/bin/2to3
already exists. You may want to remove it:rm '/usr/local/bin/2to3'To force the link and overwrite all conflicting files:brew link --overwrite python@3.9To list all files that would be deleted:brew link --overwrite --dry-run python@3.9Possible conflicting files are:
/usr/local/bin/2to3 -> /Library/Frameworks/Python.framework/Versions/3.8/bin/2to3
/usr/local/bin/idle3 -> /Library/Frameworks/Python.framework/Versions/3.8/bin/idle3
/usr/local/bin/pydoc3 -> /Library/Frameworks/Python.framework/Versions/3.8/bin/pydoc3
/usr/local/bin/python3 -> /Library/Frameworks/Python.framework/Versions/3.8/bin/python3
/usr/local/bin/python3-config -> /Library/Frameworks/Python.framework/Versions/3.8/bin/python3-config

查一下冲突的文件：brew link --dry-run python@3.9

Would link:
/usr/local/bin/2to3
/usr/local/bin/2to3-3.9
/usr/local/bin/idle3
/usr/local/bin/idle3.9
/usr/local/bin/pydoc3
/usr/local/bin/pydoc3.9
/usr/local/bin/python3
/usr/local/bin/python3-config
/usr/local/bin/python3.9
/usr/local/bin/python3.9-config
/usr/local/share/man/man1/python3.1
/usr/local/share/man/man1/python3.9.1
/usr/local/lib/pkgconfig/python-3.9-embed.pc
/usr/local/lib/pkgconfig/python-3.9.pc
/usr/local/lib/pkgconfig/python3-embed.pc
/usr/local/lib/pkgconfig/python3.pc
/usr/local/Frameworks/Python.framework/Headers
/usr/local/Frameworks/Python.framework/Python
/usr/local/Frameworks/Python.framework/Resources
/usr/local/Frameworks/Python.framework/Versions/3.9
/usr/local/Frameworks/Python.framework/Versions/Current

强制链接并覆盖所有冲突文件，终端输入：brew link --overwrite python@3.9

5.查询安装信息：brew info pcl

第五步：Xcode创建PCL工程

1.Xcode —— 新建project-->Application-->Command Line Tool，名字就叫PCL_Test, language选择C++。

2.在PCL_Test文件夹下建立：CMakeLists.txt ，内容为：

#cmake最低版本需求，不加入此行会受到警告信息
CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
PROJECT(PCL_Test) #项目名称
find_package(PCL 1.3 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(PCL_Test main.cpp)
target_link_libraries(PCL_Test ${PCL_LIBRARIES})

3.在工程目录下的文件main.cpp写入：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>intmain (int argc, char** argv)
{pcl::PointCloud<pcl::PointXYZ> cloud;// Fill in the cloud datacloud.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);
}

4.在PCL_Test文件夹下新建build文件夹：mkdir build

用Cmake.app来构建

CMake Error at CMakeLists.txt:4:Parse error. Expected a newline, got identifier with text"include_directories".这种错误表示CMakeLists.txt文件第四行的换行符有问题

解决办法：后来我重新找到一个CMakeLists.txt文件，在人家文件的基础上去改的

然后又报错第四行有问题：（忘了记录下来了）

解决办法：把第四行的括号（）改成英文的括号()就可以了

接着又报错：

CMake Warning at /usr/local/lib/cmake/vtk-9.1/VTK-vtk-module-find-packages.cmake:1243 (find_package):By not providing "FindQt5.cmake" in CMAKE_MODULE_PATH this project hasasked CMake to find a package configuration file provided by "Qt5", butCMake did not find one.Could not find a package configuration file provided by "Qt5" (requestedversion 5.15) with any of the following names:Qt5Config.cmakeqt5-config.cmakeAdd the installation prefix of "Qt5" to CMAKE_PREFIX_PATH or set "Qt5_DIR"to a directory containing one of the above files.  If "Qt5" provides aseparate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):/usr/local/lib/cmake/vtk-9.1/vtk-config.cmake:150 (include)/usr/local/share/pcl-1.12/PCLConfig.cmake:270 (find_package)/usr/local/share/pcl-1.12/PCLConfig.cmake:319 (find_VTK)/usr/local/share/pcl-1.12/PCLConfig.cmake:543 (find_external_library)CMakeLists.txt:4 (find_package)Could not find the VTK package due to a missing dependency: Qt5

解决办法：要在CMakeLists.txt文件里的find_package前添加一行：（注意，这里/usr/local/Cellar/qt@5/5.15.5_1/lib/cmake/Qt5 写你自己QT5文件夹所处的位置）

set(CMAKE_PREFIX_PATH "/usr/local/Cellar/qt@5/5.15.5_1/lib/cmake/Qt5")

继续点击Configure构建

发现只有第三行一个警告** WARNING ** io features related to pcap will be disabled

最后写着Configuring done

Eigen found (include: /usr/local/include/eigen3, version: 3.4.0)
FLANN found (include: /usr/local/include, lib: /usr/local/lib/libflann_cpp.dylib)
** WARNING ** io features related to pcap will be disabled
Eigen found (include: /usr/local/include/eigen3, version: 3.4.0)
Found Qhull version 8.0.2
Found OpenGL: /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/OpenGL.framework
Found GLEW: /usr/local/include
looking for PCL_COMMON
Found PCL_COMMON: /usr/local/lib/libpcl_common.dylib
looking for PCL_KDTREE
Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.dylib
looking for PCL_OCTREE
Found PCL_OCTREE: /usr/local/lib/libpcl_octree.dylib
looking for PCL_SEARCH
Found PCL_SEARCH: /usr/local/lib/libpcl_search.dylib
looking for PCL_SAMPLE_CONSENSUS
Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.dylib
looking for PCL_FILTERS
Found PCL_FILTERS: /usr/local/lib/libpcl_filters.dylib
looking for PCL_2D
Found PCL_2D: /usr/local/include/pcl-1.12
looking for PCL_GEOMETRY
Found PCL_GEOMETRY: /usr/local/include/pcl-1.12
looking for PCL_IO
Found PCL_IO: /usr/local/lib/libpcl_io.dylib
looking for PCL_FEATURES
Found PCL_FEATURES: /usr/local/lib/libpcl_features.dylib
looking for PCL_ML
Found PCL_ML: /usr/local/lib/libpcl_ml.dylib
looking for PCL_SEGMENTATION
Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.dylib
looking for PCL_VISUALIZATION
Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.dylib
looking for PCL_SURFACE
Found PCL_SURFACE: /usr/local/lib/libpcl_surface.dylib
looking for PCL_REGISTRATION
Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.dylib
looking for PCL_KEYPOINTS
Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.dylib
looking for PCL_TRACKING
Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.dylib
looking for PCL_RECOGNITION
Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.dylib
looking for PCL_STEREO
Found PCL_STEREO: /usr/local/lib/libpcl_stereo.dylib
looking for PCL_APPS
Found PCL_APPS: /usr/local/lib/libpcl_apps.dylib
looking for PCL_CLOUD_COMPOSER
Found PCL_CLOUD_COMPOSER: /usr/local/include/pcl-1.12
looking for PCL_POINT_CLOUD_EDITOR
Found PCL_POINT_CLOUD_EDITOR: /usr/local/include/pcl-1.12
looking for PCL_OUTOFCORE
Found PCL_OUTOFCORE: /usr/local/lib/libpcl_outofcore.dylib
looking for PCL_PEOPLE
Found PCL_PEOPLE: /usr/local/lib/libpcl_people.dylib
looking for PCL_SIMULATION
Found PCL_SIMULATION: /usr/local/lib/libpcl_simulation.dylib
Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;pcl_simulation;Boost::system;Boost::filesystem;Boost::date_time;Boost::iostreams;Boost::serialization;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL (Required is at least version "1.3")
Configuring done

一个警告先不管了！

接下来Generate

老天爷啊，终于成功了！！！

接下来有个.xcodeproj文件，打开，进入Xcode的界面，Command+b，编译

出现错误：

error: Build input file cannot be found: '/Users/zhanghong/Desktop/PCL_Test/PCL_Test/main.cpp' (in target 'PCL_Test' from project 'PCL_Test')

warning: Could not read serialized diagnostics file: Cannot Load File: Failed to open diagnostics file (in target 'PCL_Test' from project 'PCL_Test')

是因为之前我更改了main.cpp的位置......

实在找不到解决办法，只好把main.cpp移回去了，妥协...

然后重新：Command+b 编译

又报错：'pcl/io/pcd_io.h' file not found

当我把这几行挨个注释后发现，这四个库其实都找不到！

解决办法：

继续编译：main.cpp --> Command+b

又有十个报错！

三天了，依旧没弄好，放弃了，不弄了！