[ubuntu][pcl]PCL can not be found on this machine

Ubuntu 20.04无法找到PCL，因为“`sudo install libpcl-dev`”安装后包含的目录不正确

操作系统: Ubuntu20.04

PCL信息：

Package: libpcl-dev
Version: 1.10.0+dfsg-5ubuntu1
Priority: extra
Section: universe/libdevel
Source: pcl
Origin: Ubuntu

由sudo apt install libpcl-dev**.安装的I并像这样使用：**

cmake_minimum_required(VERSION 3.5)
project(test)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
endif()

# find dependencies
find_package(PCL REQUIRED)

生成项目时发生了一些错误：

CMake Error at /lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:62 (message):
  PCL can not be found on this machine
Call Stack (most recent call first):
  /lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:452 (pcl_report_not_found)
  CMakeLists.txt:37 (find_package)


-- Configuring incomplete, errors occurred!

我正在尝试调试/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:418-454**，中的cmake源代码cmake源代码如下所示：**

find_package(PkgConfig QUIET)

file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
if(WIN32 AND NOT MINGW)
# PCLConfig.cmake is installed to PCL_ROOT/cmake
  get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
else()
# PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
  get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../../.." ABSOLUTE)
endif()

# check whether PCLConfig.cmake is found into a PCL installation or in a build tree
if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
  # Found a PCL installation
  # pcl_message("Found a PCL installation")
  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib/x86_64-linux-gnu")
  if(EXISTS "${PCL_ROOT}/3rdParty")
    set(PCL_ALL_IN_ONE_INSTALLER ON)
  endif()
elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
  # Found a non-standard (likely ANDROID) PCL installation
  # pcl_message("Found a PCL installation")
  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
  if(EXISTS "${PCL_ROOT}/3rdParty")
    set(PCL_ALL_IN_ONE_INSTALLER ON)
  endif()
elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
  # Found PCLConfig.cmake in a build tree of PCL
  # pcl_message("PCL found into a build tree.")
  set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
  set(PCL_LIBRARY_DIRS "${PCL_DIR}/lib/x86_64-linux-gnu")
  set(PCL_SOURCES_TREE "/build/pcl-gWGA5r/pcl-1.10.0+dfsg")
else()
  pcl_report_not_found("PCL can not be found on this machine")
endif()

通过调试，我发现环境变量PCL_ROOT 设置为 / ， PCL_DIR 设置为 /lib/x86_64-linux-gnu/cmake/pcl**.因此，它无法找到正确的PCL包含目录(正确的PCL包含dir是** /usr/include/pcl-1.10**)并导致cmake错误。**)

那么，我的PCL有什么问题，如何通过find_package(PCL REQUIRED) 成功地找到PCL呢？非常感谢！

一个简单的“改变位置”的方法是创建一个符号链接。在这种情况下，你会：

sudo mkdir /lib/x86_64-linux-gnu/cmake/pcl/include
sudo ln -s /usr/include/pcl-1.10/pcl /lib/x86_64-linux-gnu/cmake/pcl/include/pcl
sudo ln -s /usr/lib/x86_64-linux-gnu /lib/x86_64-linux-gnu/cmake/pcl/lib/x86_64-linux-gnu

那么你很可能会撞到：

No such file or directory

#include <Eigen/Core>

用同样的方式修复它：

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

参考文献：

【1】https://github.com/PointCloudLibrary/pcl/issues/5451