apt安装的libpcl-dev，链接时找不到pcl_in_hand_scanner

[xiaomi2077]

Xmake 版本

xmake v2.6.8+dev.7d245d6

操作系统版本和架构

Linux ubuntu 5.10.65-tegra #1 SMP PREEMPT Mon May 16 20:58:07 PDT 2022 aarch64 aarch64 aarch64 GNU/Linux

描述问题

使用apt install libpcl-dev 安装 pcl-1.10。链接时报错找不到pcl_in_hand_scanner, pcl_point_cloud_editor

[ 84%]: linking.release liboilfield_all_rules.so
/usr/bin/g++ -o build/linux/arm64-v8a/release/liboilfield_all_rules.so build/.objs/oilfield_all_rules/linux/arm64-v8a/release/rules/all_rules.cpp.o build/.objs/oilfield_all_rules/linux/arm64-v8a/release/rules/rule_impl.cpp.o -shared -fPIC -L3rd_repo/camera_lidar/lib -L3rd_repo/livox_sdk/aarch64/lib -L/usr/local/cuda/lib64 -L/home/ningdr/.xmake/packages/y/yaml-cpp/0.7.0/086d2197d4a140268cdc261a218d6c30/lib -L/home/ningdr/.xmake/packages/f/fmt/8.1.1/de884931b89c45c9827bdfca7369c158/lib -L/home/ningdr/.xmake/packages/j/jsoncpp/1.9.5/26407f9c181546f48ebfe8f13c98455c/lib -Lbuild/linux/arm64-v8a/release -lpcl_apps -lpcl_in_hand_scanner -lpcl_keypoints -lpcl_outofcore -lpcl_people -lpcl_point_cloud_editor -lpcl_recognition -lpcl_registration -lpcl_segmentation -lpcl_features -lpcl_ml -lpcl_stereo -lpcl_surface -lpcl_tracking -lpcl_filters -lpcl_sample_consensus -lpcl_visualization -lpcl_io -lOpenNI -lOpenNI2 -lpcl_search -lpcl_kdtree -llz4 -lflann -lflann_cpp -lpcl_octree -lpcl_common -lopencv_gapi -lopencv_highgui -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_stitching -lopencv_video -lopencv_calib3d -lopencv_features2d -lopencv_dnn -lopencv_flann -lopencv_videoio -lopencv_imgcodecs -lopencv_imgproc -lopencv_core -lyaml-cpp -lfmt -ljsoncpp -loilfield_common
error: /usr/bin/ld: cannot find -lpcl_in_hand_scanner
/usr/bin/ld: cannot find -lpcl_point_cloud_editor
collect2: error: ld returned 1 exit status

用pkg-config能找到这2个库

$ pkg-config pcl_in_hand_scanner-1.10 --libs --cflags
-I/usr/include/pcl-1.10 -lpcl_in_hand_scanner
$ pkg-config pcl_point_cloud_editor-1.10 --libs --cflags
-I/usr/include/pcl-1.10 -lpcl_point_cloud_editor

期待的结果

能找到缺失的库并链接

工程配置

No response

附加信息和错误日志

No response

[waruqi]

贴下 xmake.lua 里面 add_requires 配置

然后自己执行下 xmake l find_package apt::libpcl-dev 贴下输出

[xiaomi2077]

然后自己执行下 xmake l find_package apt::libpcl-dev 贴下输出

$ xmake l find_package apt::libpcl-dev
{ 
  links = { 
    "pcl_apps",
    "pcl_in_hand_scanner",
    "pcl_keypoints",
    "pcl_outofcore",
    "pcl_people",
    "pcl_point_cloud_editor",
    "pcl_recognition",
    "pcl_registration",
    "pcl_segmentation",
    "pcl_features",
    "pcl_ml",
    "pcl_stereo",
    "pcl_surface",
    "pcl_tracking",
    "pcl_filters",
    "pcl_sample_consensus",
    "pcl_visualization",
    "pcl_io",
    "OpenNI",
    "OpenNI2",
    "pcl_search",
    "pcl_kdtree",
    "lz4",
    "flann",
    "flann_cpp",
    "pcl_octree",
    "pcl_common" 
  },
  includedirs = { 
    "/usr/include/pcl-1.10",
    "/usr/include/eigen3",
    "/usr/include/ni",
    "/usr/include/openni2" 
  },
  linkdirs = { } 
}

贴下 xmake.lua 里面 add_requires 配置

add_requires('apt::libpcl-dev')

-- cuda
add_includedirs("/usr/local/cuda/include") --driver_types.h
add_linkdirs('/usr/local/cuda/lib64')


add_requires('ffmpeg','boost','libpng',"yaml-cpp",'fmt',"cxxopts","eigen",{system=false}) -- 不使用系统包
add_requires('opencv',{configs={gtk=true,system=false}})
add_requires('jsoncpp')

-- 公用的函数，yolov5类定义、inference_trt类定义
target('xxx_common')
    set_kind('shared')
    add_files('common/*.cpp')
    add_packages("fmt","opencv",'yaml-cpp','cxxopts')
    add_links('cudart','nvinfer')

-- 规则库
target("xxx_all_rules")
    set_kind("shared")
    add_files('rules/*.cpp')
    add_deps('xxx_common')
    add_packages('apt::libpcl-dev',"opencv","yaml-cpp","fmt","cxxopts",'eigen','jsoncpp')

[xiaomi2077]

是因为linkdirs为空吗？
但是我找apt::libopnecv-dev时也是空，但是opencv的链接库能找到。

$ xmake l find_package apt::libopencv-dev
{ 
  links = { 
    "opencv_gapi",
    "opencv_highgui",
    "opencv_ml",
    "opencv_objdetect",
    "opencv_photo",
    "opencv_stitching",
    "opencv_video",
    "opencv_calib3d",
    "opencv_features2d",
    "opencv_dnn",
    "opencv_flann",
    "opencv_videoio",
    "opencv_imgcodecs",
    "opencv_imgproc",
    "opencv_core" 
  },
  includedirs = { 
    "/usr/include/opencv4" 
  },
  linkdirs = { } 
}

[waruqi]

/usr/bin/g++ -o build/linux/arm64-v8a/release/liboilfield_all_rules.so build/.objs/oilfield_all_rules/linux/arm64-v8a/release/rules/all_rules.cpp.o build/.objs/oilfield_all_rules/linux/arm64-v8a/release/rules/rule_impl.cpp.o -shared -fPIC -L3rd_repo/camera_lidar/lib -L3rd_repo/livox_sdk/aarch64/lib -L/usr/local/cuda/lib64 -L/home/ningdr/.xmake/packages/y/yaml-cpp/0.7.0/086d2197d4a140268cdc261a218d6c30/lib -L/home/ningdr/.xmake/packages/f/fmt/8.1.1/de884931b89c45c9827bdfca7369c158/lib -L/home/ningdr/.xmake/packages/j/jsoncpp/1.9.5/26407f9c181546f48ebfe8f13c98455c/lib -Lbuild/linux/arm64-v8a/release
-lpcl_apps -lpcl_in_hand_scanner -lpcl_keypoints -lpcl_outofcore -lpcl_people -lpcl_point_cloud_editor -lpcl_recognition -lpcl_registration -lpcl_segmentation -lpcl_features -lpcl_ml -lpcl_stereo -lpcl_surface -lpcl_tracking -lpcl_filters -lpcl_sample_consensus -lpcl_visualization -lpcl_io -lOpenNI -lOpenNI2 -lpcl_search -lpcl_kdtree -llz4 -lflann -lflann_cpp -lpcl_octree -lpcl_common -lopencv_gapi -lopencv_highgui -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_stitching -lopencv_video -lopencv_calib3d -lopencv_features2d -lopencv_dnn -lopencv_flann -lopencv_videoio -lopencv_imgcodecs -lopencv_imgproc -lopencv_core -lyaml-cpp -lfmt -ljsoncpp -loilfield_common

看你的 link flags，已经完全带上了，没啥问题，你自己确认下 相关符号在那个子库，以及 link 顺序问题

[xiaomi2077]

是不是pcl库之间顺序的问题？我把apt::libpcl-dev依次向后移动，还是报同样的错误。
它只报错找不到pcl_in_hand_scanner、pcl_point_cloud_editor这两个库，其他的库找得到。

error: /usr/bin/ld: cannot find -lpcl_in_hand_scanner
/usr/bin/ld: cannot find -lpcl_point_cloud_editor
collect2: error: ld returned 1 exit status

如何修改pcl库之间的链接顺序呢？

[xiaomi2077]

好像找到原因了，系统里都没有这2个库。。。那为啥xmake l find_package apt::libpcl-dev的links会把这两个库写上呢？

[waruqi]

好像找到原因了，系统里都没有这2个库。。。那为啥xmake l find_package apt::libpcl-dev的links会把这两个库写上呢？

这个你要问 pkg-config 了 ，xmake 也是调用 pkg-config 取的 dpkg --listfiles libpcl-dev 里面的 .pc 文件

[xiaomi2077]

好了。我把pcl_in_hand_scanner、pcl_point_cloud_editor这2库的pc文件从/usr/lib/aarch64-linux/gnu/pkgconfig里删除了。再xmake f -c，就不再链接这个库了。
还不知道这2库是干啥的，希望我的项目不要用到这2个库。apt安装的有这2个库的pc文件，但是pc文件里写的库文件却不存在，使用find全局查找也找不到，不知道是不是上游打包打错了

[waruqi]

不知道，这个跟 xmake 没啥关系了，xmake 也改不了这