解決PCL和OpenCV中flann庫沖突的問題

做視覺處理，尤其是三維視覺和點云處理等，基本都離不開這倆大庫，以前要么單獨用OpenCV做二維，要么純用PCL做點云后處理。因為準備把學習期間的代碼整合起來，所以需要同時使用兩個庫，結(jié)果發(fā)現(xiàn)flann庫沖突的問題??
查閱了一下網(wǎng)上的方案，基本有幾種方案

• 1.建議改調(diào)用的flann頭文件路徑（要改全部的也太夸張了，要改用到的又不確定用到了哪些??）
• 2.或者用不同的命名空間規(guī)避（根本沒用到flann相關(guān)的函數(shù)就沖突了??）
• 3.修改OpenCV中的flann文件夾名（相對靠譜點??）

方法1：修改OpenCV中的flann文件夾名

如果只打算使用PCL的flann庫，可以通過修改OpenCV庫中的flann文件夾名避免，但是治標不治本， 沒有真正解決問題，只是解決了有問題的庫 ??

執(zhí)行如下兩步，進入路徑，更改名稱，解決！（記得備份或者以后用的時候能想起改回來??）

cd /usr/local/opencv4/include/opencv4/opencv2

sudo mv flann/ flann2/

方法2：通過增加Cmake文件解決問題

索性直接搜索Ubuntu20.04+PCL+OpenCV環(huán)境的配置經(jīng)驗，還真研究出一些規(guī)律，大部分跑起來而且不提到flann庫沖突問題的博客或者文章都是增加CMakeLists.txt文件實現(xiàn)的，然后就是昏天黑地的配置和試錯時間??

首先新建文件結(jié)構(gòu)如下（直接把自己的放上來不是為了偷懶 ，如果有好心人可以推薦更精簡或者更方便的文件結(jié)構(gòu)那就太好辣??）

cpp
├── .vscode
│   ├── c_cpp_properties.json
│   ├── launch.json
│   └── tasks.json
├── build
│   └── bin
│       ├── Linx
│       └── data
├── CMakeLists.txt
├── data 
├── include
│   ├── func_common.h
│   ├── func_opencv.h
│   └── func_pcl.h
└── src
    ├── func_common.cpp
    ├── func_opencv.cpp
    ├── func_pcl.cpp
    └── main.cpp

需要的文件內(nèi)容如下

1. CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(Linx)

# ========================================
# === 構(gòu)建靜態(tài)庫以加速
# ========================================
set(COMMON_SOURCES src/func_common.cpp src/func_pcl.cpp src/func_opencv.cpp)

add_library(Func STATIC ${COMMON_SOURCES})

if(UNIX)
  target_link_libraries(Func pthread)
endif()

# ========================================
# === PCL庫
# ========================================
find_package(PCL 1.8 REQUIRED)
    include_directories(${PCL_INCLUDE_DIRS})
    link_directories(${PCL_LIBRARY_DIRS})
    add_definitions(${PCL_DEFINITIONS})

# ========================================
# === OpenCV庫
# ========================================
# 記得替換自己的路徑
set(OpenCV_DIR "~/libs/opencv-4.5.3/build/")
find_package(OpenCV REQUIRED)
if (NOT OpenCV_FOUND)
    message(FATAL_ERROR "OpenCV library not found")
else()
    include_directories(${OpenCV_INCLUDE_DIRS})
    include_directories(${OpenCV2_INCLUDE_DIRS})
    link_directories(${OpenCV_LIB_DIR})

endif()

    
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/build/bin)

aux_source_directory(./src/ DIR_SRCS)

add_executable(Linx  ${DIR_SRCS})

set_target_properties(Linx PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})

include_directories (${CMAKE_CURRENT_SOURCE_DIR}/include)

target_link_libraries(Linx
${ABSOLUTE_TARGET_LIB} ${PCL_LIBRARIES} libpthread.so  ${OpenCV_LIBS} Func ${CLOUD_VIEWER} 
)

2. .vscode/c_cpp_properties.json

{
  "configurations": [
      {
          "name": "Linux",
          "includePath": [
              "${workspaceFolder}/**",
              "/usr/include",
              "/usr/include/**",
              "/usr/include/x86_64-linux-gnu/sys",
              // 檢查pcl路徑
              "/usr/include/pcl-1.10",
              "/usr/include/eigen3",
              "/usr/include/eigen3/Eigen/", 
              "/usr/include/vtk-7.1",   
              "/usr/include/qhull",
              "/usr/include/flann",
              "/usr/include/boost",
              // 檢查opencv路徑
              "/usr/local/opencv4/include/opencv4"
          ],
          "defines": [],
          "compilerPath": "/usr/bin/gcc",
          "cStandard": "${default}",
          "cppStandard": "${default}",
          "intelliSenseMode": "linux-gcc-x64"
      }
  ],
  "version": 4
  }

3. .vscode/launch.json

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "g++ - 生成和調(diào)試活動文件",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/build/bin/Linx",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "為 gdb 啟用整齊打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "Build",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]
}

4. .vscode/tasks.json

{   
    "version": "2.0.0",
    "options": {
        "cwd": "${workspaceFolder}/build"
    },
    "tasks": [
        {
            "type": "shell",
            "label": "cmake",
            "command": "cmake",
            "args": [
                ".."
            ]
        },
        {
            "label": "make",
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "command": "make",
            "args": [

            ]
        },
        {
            "label": "Build",
            "dependsOrder": "sequence", // 按列出的順序執(zhí)行任務(wù)依賴項
            "dependsOn":[
                "cmake",
                "make"
            ]
        }
    ]
}

配置好以上文件之后，就又可以愉快的寫B(tài)UG啦！(不是 ) ??文章來源地址http://www.zghlxwxcb.cn/news/detail-618968.html

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