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Mac安装Qt配置opencv+pcl_pcl macos配置

作者：花生_TL007 | 2024-05-01 10:33:56

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pcl macos配置

环境：macos+Qt5.15.0+opencv4.4.0+pcl1.9.1

安装
2、brew安装
打开：https://www.ipaddress.com/
在搜索框输入：raw.githubusercontent.com
在这里插入图片描述
修改系统文件hosts文件
在这里插入图片描述
在/etc/文件下找到hosts文件打开，添加自己对应内容，例如：199.232.68.133 raw.githubusercontent.com
在这里插入图片描述
安装brew：/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
安装wget:brew install wget
安装cmake：brew install cmake

2、 安装Qt
下载：官网下载
安装：直接根据需求安装即可
*3、 安装opencv4.4.0：*终端执行brew install opencv
*4、 安装pcl1.9.1：*参考 https://blog.csdn.net/OEMT_301/article/details/104250207
配置
1、 首先新建Qt项目
2、 Opencv项目：
在.pro文件中添加

INCLUDEPATH += /usr/local/Cellar/opencv/4.4.0/include
INCLUDEPATH += /usr/local/Cellar/opencv/4.4.0/include/opencv4
INCLUDEPATH += /usr/local/Cellar/opencv/4.4.0/include/opencv4/opencv2
LIBS += -L/usr/local/Cellar/opencv/4.4.0/lib -lopencv_gapi \
        -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired \
        -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm \
        -lopencv_highgui -lopencv_face -lopencv_freetype -lopencv_fuzzy -lopencv_hfs \
        -lopencv_img_hash -lopencv_line_descriptor -lopencv_quality -lopencv_reg \
        -lopencv_rgbd -lopencv_saliency -lopencv_sfm -lopencv_stereo -lopencv_structured_light \
        -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching \
        -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_dnn -lopencv_plot \
        -lopencv_videostab -lopencv_videoio -lopencv_xfeatures2d -lopencv_shape -lopencv_ml \
        -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect \
        -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_flann -lopencv_xphoto \
        -lopencv_photo -lopencv_imgproc -lopencv_core

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实例：

// main.cpp
#include <iostream>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main()
{
    Mat img = Mat::zeros(Size(400,400), CV_8UC3);
    imshow("img", img);
    waitKey(0);
    cout << "hello" << endl;
    return 0;
}

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3、 pcl项目：
在.pro文件中添加

INCLUDEPATH += /usr/local/Cellar/flann/1.9.1_9/include
INCLUDEPATH += /usr/local/Cellar/eigen/3.3.7/include/eigen3
INCLUDEPATH += /usr/local/Cellar/vtk/8.2.0_10/include/vtk-8.2
LIBS += /usr/local/Cellar/vtk/8.2.0_10/lib/libvtk*.dylib

INCLUDEPATH += /usr/local/Cellar/boost/1.73.0/include
LIBS += /usr/local/Cellar/boost/1.73.0/lib/libboost_*.dylib

INCLUDEPATH += /usr/local/Cellar/pcl/1.9.1_9/include/pcl-1.9
LIBS += /usr/local/Cellar/pcl/1.9.1_9/lib/libpcl_*.dylib

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实例

// main.cpp
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/io.h>


using namespace std;
using namespace pcl;
using namespace io;

int main()
{
    PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
    io::loadPCDFile("pcd文件路径", *cloud);
    if (cloud==NULL)
    {
        cerr << "can't read file bunny.pcd" << endl;
        return -1;
    }

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> fildColor(cloud, "z"); // 按照z字段进行渲染

    viewer->addPointCloud<pcl::PointXYZ>(cloud, fildColor, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 设置点云大小

    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }

    return 0;
}

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合并：

INCLUDEPATH += /usr/local/Cellar/flann/1.9.1_9/include
INCLUDEPATH += /usr/local/Cellar/eigen/3.3.7/include/eigen3
INCLUDEPATH += /usr/local/Cellar/vtk/8.2.0_10/include/vtk-8.2
LIBS += /usr/local/Cellar/vtk/8.2.0_10/lib/libvtk*.dylib

INCLUDEPATH += /usr/local/Cellar/boost/1.73.0/include
LIBS += /usr/local/Cellar/boost/1.73.0/lib/libboost_*.dylib

INCLUDEPATH += /usr/local/Cellar/pcl/1.9.1_9/include/pcl-1.9
LIBS += /usr/local/Cellar/pcl/1.9.1_9/lib/libpcl_*.dylib


INCLUDEPATH += /usr/local/Cellar/opencv/4.4.0/include
INCLUDEPATH += /usr/local/Cellar/opencv/4.4.0/include/opencv4
INCLUDEPATH += /usr/local/Cellar/opencv/4.4.0/include/opencv4/opencv2
LIBS += -L/usr/local/Cellar/opencv/4.4.0/lib -lopencv_gapi \
        -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired \
        -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm \
        -lopencv_highgui -lopencv_face -lopencv_freetype -lopencv_fuzzy -lopencv_hfs \
        -lopencv_img_hash -lopencv_line_descriptor -lopencv_quality -lopencv_reg \
        -lopencv_rgbd -lopencv_saliency -lopencv_sfm -lopencv_stereo -lopencv_structured_light \
        -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching \
        -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_dnn -lopencv_plot \
        -lopencv_videostab -lopencv_videoio -lopencv_xfeatures2d -lopencv_shape -lopencv_ml \
        -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect \
        -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_flann -lopencv_xphoto \
        -lopencv_photo -lopencv_imgproc -lopencv_core


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注：.pro中要添加自己对应的文件路径

———————————————————————————
2021年5月12日

INCLUDEPATH += /usr/local/Cellar/flann/1.9.1_10/include
INCLUDEPATH += /usr/local/Cellar/eigen/3.3.9/include/eigen3
INCLUDEPATH += /usr/local/Cellar/vtk@8.2/8.2.0_4/include/vtk-8.2
LIBS += /usr/local/Cellar/vtk@8.2/8.2.0_4/lib/libvtk*.dylib

INCLUDEPATH += /usr/local/Cellar/boost/1.75.0_2/include
LIBS += /usr/local/Cellar/boost/1.75.0_2/lib/libboost_*.dylib

INCLUDEPATH += /usr/local/include/pcl-1.11
LIBS += /usr/local/lib/libpcl_*.dylib


INCLUDEPATH += /usr/local/include
INCLUDEPATH += /usr/local/include/opencv4
INCLUDEPATH += /usr/local/include/opencv4/opencv2
LIBS += -L/usr/local/lib -lopencv_gapi \
        -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired \
        -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm \
        -lopencv_highgui -lopencv_face -lopencv_fuzzy -lopencv_hfs \
        -lopencv_img_hash -lopencv_line_descriptor -lopencv_quality -lopencv_reg \
        -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light \
        -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching \
        -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_dnn -lopencv_plot \
        -lopencv_videostab -lopencv_videoio -lopencv_xfeatures2d -lopencv_shape -lopencv_ml \
        -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect \
        -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_flann -lopencv_xphoto \
        -lopencv_photo -lopencv_imgproc -lopencv_core

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头文件

#include <iostream>
#include <string>
#include <fstream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
//#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/io.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace pcl;
using namespace io;
using namespace cv;

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修改：
项目->Run->Environment->DYLD_LIBRARY_PATH删除配置项
在这里插入图片描述
在这里插入图片描述

在这里插入图片描述

———————————————————————————
2021年7月31日

INCLUDEPATH += /usr/local/Cellar/flann/1.9.1_11/include
INCLUDEPATH += /usr/local/Cellar/eigen/3.3.9/include/eigen3
INCLUDEPATH += /usr/local/Cellar/vtk@8.2/8.2.0_6/include/vtk-8.2
LIBS += /usr/local/Cellar/vtk@8.2/8.2.0_6/lib/libvtk*.dylib

INCLUDEPATH += /usr/local/Cellar/boost/1.76.0/include
LIBS += /usr/local/Cellar/boost/1.76.0/lib/libboost_*.dylib

INCLUDEPATH += /usr/local/include/pcl-1.11
LIBS += /usr/local/lib/libpcl_*.dylib

INCLUDEPATH += /usr/local/include
INCLUDEPATH += /usr/local/include/opencv4
INCLUDEPATH += /usr/local/include/opencv4/opencv2
LIBS += -L/usr/local/lib -lopencv_gapi \
        -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired \
        -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm \
        -lopencv_highgui -lopencv_face -lopencv_fuzzy -lopencv_hfs \
        -lopencv_img_hash -lopencv_line_descriptor -lopencv_quality -lopencv_reg \
        -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light \
        -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching \
        -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_dnn -lopencv_plot \
        -lopencv_videostab -lopencv_videoio -lopencv_xfeatures2d -lopencv_shape -lopencv_ml \
        -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect \
        -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_flann -lopencv_xphoto \
        -lopencv_photo -lopencv_imgproc -lopencv_core

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#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/io.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace pcl;
using namespace io;
using namespace cv;

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2021年8月1日:macos10.13.6

opencv4
pcl1.11
vtk-8.2
cmake

TEMPLATE = app
CONFIG += console c++14
CONFIG -= app_bundle
CONFIG -= qt

SOURCES += \
        main.cpp

INCLUDEPATH += /usr/local/Cellar/flann/1.9.1_11/include
INCLUDEPATH += /usr/local/Cellar/eigen/3.3.9/include/eigen3
INCLUDEPATH += /usr/local/include/vtk-8.2
LIBS += /usr/local/lib/libvtk*.dylib

INCLUDEPATH += /usr/local/Cellar/boost/1.76.0/include
LIBS += /usr/local/Cellar/boost/1.76.0/lib/libboost_*.dylib

INCLUDEPATH += /usr/local/include/pcl-1.11
LIBS += /usr/local/lib/libpcl_*.dylib

INCLUDEPATH += /usr/local/include
INCLUDEPATH += /usr/local/include/opencv4
INCLUDEPATH += /usr/local/include/opencv4/opencv2
LIBS += -L/usr/local/lib -lopencv_gapi \
        -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired \
        -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm \
        -lopencv_highgui -lopencv_face -lopencv_fuzzy -lopencv_hfs \
        -lopencv_img_hash -lopencv_line_descriptor -lopencv_quality -lopencv_reg \
        -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light \
        -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching \
        -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_dnn -lopencv_plot \
        -lopencv_videostab -lopencv_videoio -lopencv_xfeatures2d -lopencv_shape -lopencv_ml \
        -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect \
        -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_flann -lopencv_xphoto \
        -lopencv_photo -lopencv_imgproc -lopencv_core


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#include <iostream>
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/io.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace pcl;
using namespace io;
using namespace cv;

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2021.8.13

INCLUDEPATH += /usr/local/Cellar/flann/1.9.1_11/include
INCLUDEPATH += /usr/local/Cellar/eigen/3.3.9/include/eigen3
INCLUDEPATH += /usr/local/Cellar/vtk@8.2/8.2.0_7/include/vtk-8.2
LIBS += /usr/local/Cellar/vtk@8.2/8.2.0_7/lib/libvtk*.dylib

INCLUDEPATH += /usr/local/Cellar/boost/1.76.0/include
LIBS += /usr/local/Cellar/boost/1.76.0/lib/libboost_*.dylib

INCLUDEPATH += /usr/local/include/pcl-1.11
LIBS += /usr/local/lib/libpcl_*.dylib


INCLUDEPATH += /usr/local/include
INCLUDEPATH += /usr/local/include/opencv4
INCLUDEPATH += /usr/local/include/opencv4/opencv2
LIBS += -L/usr/local/lib -lopencv_gapi \
        -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired \
        -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm \
        -lopencv_highgui -lopencv_face -lopencv_fuzzy -lopencv_hfs \
        -lopencv_img_hash -lopencv_line_descriptor -lopencv_quality -lopencv_reg \
        -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light \
        -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching \
        -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_dnn -lopencv_plot \
        -lopencv_videostab -lopencv_videoio -lopencv_xfeatures2d -lopencv_shape -lopencv_ml \
        -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect \
        -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_flann -lopencv_xphoto \
        -lopencv_photo -lopencv_imgproc -lopencv_core

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#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>


int main()
{
    std::cout << "Test PCL !!!" << std::endl;

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
        for (float angle(0.0); angle <= 360.0; angle += 5.0)
        {
            pcl::PointXYZRGB point;
            point.x = 0.5 * cosf (pcl::deg2rad(angle));
            point.y = sinf (pcl::deg2rad(angle));
            point.z = z;
            uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
                static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
            point.rgb = *reinterpret_cast<float*>(&rgb);
            point_cloud_ptr->points.push_back (point);
        }
        if (z < 0.0)
        {
            r -= 12;
            g += 12;
        }
        else
        {
            g -= 12;
            b += 12;
        }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));

    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZRGB> fildColor(point_cloud_ptr, "z"); // 按照z字段进行渲染

    viewer->addPointCloud<pcl::PointXYZRGB>(point_cloud_ptr, fildColor, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); // 设置点云大小

    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
    }

    return 0;
}




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2022.1.24
macbook M1
安装brew：

/bin/bash -c "$(curl -fsSL https://cdn.jsdelivr.net/gh/ineo6/homebrew-install/install.sh)"
echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> /Users/joemt/.zprofile

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INCLUDEPATH += /opt/homebrew/Cellar/flann/1.9.1_11/include
INCLUDEPATH += /opt/homebrew/Cellar/eigen/3.4.0_1/include/eigen3
INCLUDEPATH += /opt/homebrew/Cellar/vtk@8.2/8.2.0_7/include/vtk-8.2
LIBS += /opt/homebrew/Cellar/vtk@8.2/8.2.0_7/lib/libvtk*.dylib

INCLUDEPATH += /opt/homebrew/Cellar/boost/1.76.0/include
LIBS += /opt/homebrew/Cellar/boost/1.76.0/lib/libboost_*.dylib

INCLUDEPATH += /usr/local/include/pcl-1.11
LIBS += /usr/local/lib/libpcl_*.dylib


INCLUDEPATH += /usr/local/include
INCLUDEPATH += /usr/local/include/opencv4
INCLUDEPATH += /usr/local/include/opencv4/opencv2
LIBS += -L/usr/local/lib -lopencv_gapi \
        -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired \
        -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm \
        -lopencv_highgui -lopencv_face -lopencv_fuzzy -lopencv_hfs \
        -lopencv_img_hash -lopencv_line_descriptor -lopencv_quality -lopencv_reg \
        -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light \
        -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching \
        -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_dnn -lopencv_plot \
        -lopencv_videostab -lopencv_videoio -lopencv_xfeatures2d -lopencv_shape -lopencv_ml \
        -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect \
        -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_flann -lopencv_xphoto \
        -lopencv_photo -lopencv_imgproc -lopencv_core


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