DRAFT PAPER

Point Cloud Library (PCL) on Mac OS

Uki D. Lucas June 20, 2019

Install PCL using BREW.

PCL is a Point Cloud Library for C++

$ xcode-select –install

xcode-select: error: command line tools are already installed, use “Software Update” to install updates

After updating Mac OS, please re-install the brew:

$ /usr/bin/ruby -e “$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)”

$ brew update

Already up-to-date.

$ brew tap homebrew/science

Error: homebrew/science was deprecated. This tap is now empty as all its formulae were migrated.

$ brew tap brewsci/science

Cloning into ‘/usr/local/Homebrew/Library/Taps/brewsci/homebrew-science’…

DANGER (no need to do it if you re-insalled the brew):

$ sudo install -d -o $(whoami) -g admin /usr/local/Frameworks

$ brew reinstall pcl

🍺 /usr/local/Cellar/pcl/1.9.1_4: 1,173 files, 147.4MB

$ brew upgrade pcl

Error: pcl 1.9.1_4 already installed

Compile the Lidar Simulator (Udacity nd313)

cd /Volumes/DATA/_Drive/_REPOS/SFND_Lidar_Obstacle_Detection/build/

build $ rm ../CMakeCache.txt

build $ cmake ../CMakeLists.txt

– The C compiler identification is AppleClang 10.0.1.10010046

– The CXX compiler identification is AppleClang 10.0.1.10010046

– Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc

– Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc – works

– Detecting C compiler ABI info

– Detecting C compiler ABI info - done

– Detecting C compile features

– Detecting C compile features - done

– Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++

– Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ – works

– Detecting CXX compiler ABI info

– Detecting CXX compiler ABI info - done

– Detecting CXX compile features

– Detecting CXX compile features - done

– Checking for module ‘eigen3’

– No package ‘eigen3’ found

– Found Eigen: /usr/local/include/eigen3

– Eigen found (include: /usr/local/include/eigen3, version: 3.3.7)

– Looking for pthread.h

– Looking for pthread.h - found

– Looking for pthread_create

– Looking for pthread_create - found

– Found Threads: TRUE

– Boost version: 1.70.0

– Found the following Boost libraries:

– system

– filesystem

– thread

– date_time

– iostreams

– serialization

– chrono

– atomic

– regex

– Checking for module ‘flann’

– No package ‘flann’ found

– Found FLANN: /usr/local/Cellar/flann/1.9.1_7/lib/libflann_cpp.dylib

– FLANN found (include: /usr/local/Cellar/flann/1.9.1_7/include, lib: optimized;/usr/local/Cellar/flann/1.9.1_7/lib/libflann_cpp.dylib;debug;/usr/local/Cellar/flann/1.9.1_7/lib/libflann_cpp.dylib)

– Checking for module ‘flann’

– No package ‘flann’ found

– FLANN found (include: /usr/local/Cellar/flann/1.9.1_7/include, lib: optimized;/usr/local/Cellar/flann/1.9.1_7/lib/libflann_cpp.dylib;debug;/usr/local/Cellar/flann/1.9.1_7/lib/libflann_cpp.dylib)

** WARNING ** io features related to pcap will be disabled

** WARNING ** io features related to png will be disabled

– Found libusb-1.0: /usr/local/include

** WARNING ** io features related to libusb-1.0 will be disabled

– Found Qhull: optimized;/usr/local/lib/libqhull_p.dylib;debug;/usr/local/lib/libqhull_p.dylib

– QHULL found (include: /usr/local/include, lib: optimized;/usr/local/lib/libqhull_p.dylib;debug;/usr/local/lib/libqhull_p.dylib)

– Found OpenGL: /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk/System/Library/Frameworks/OpenGL.framework

– Found PkgConfig: /opt/local/bin/pkg-config (found version “0.29.2”)

– Checking for module ‘glew’

– No package ‘glew’ found

CMake Error at /usr/local/share/pcl-1.9/PCLConfig.cmake:58 (message):

simulation is required but glew was not found

Call Stack (most recent call first):

/usr/local/share/pcl-1.9/PCLConfig.cmake:361 (pcl_report_not_found)

/usr/local/share/pcl-1.9/PCLConfig.cmake:545 (find_external_library)

CMakeLists.txt:10 (find_package)

– Configuring incomplete, errors occurred!

See also “/Volumes/DATA/_Drive/_REPOS/SFND313_Lidar_Obstacle_Detection/CMakeFiles/CMakeOutput.log”.

See also “/Volumes/DATA/_Drive/_REPOS/SFND313_Lidar_Obstacle_Detection/CMakeFiles/CMakeError.log”.

$ brew install glew

Updating Homebrew…

==> Auto-updated Homebrew!

Updated 1 tap (homebrew/core).

No changes to formulae.

Warning: glew 2.1.0 is already installed and up-to-date

To reinstall 2.1.0, run brew reinstall glew

(turi) uki 16:17 build $

References

http://www.pointclouds.org/documentation/tutorials/installing_homebrew.php
https://gist.github.com/irazasyed/7732946

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