解决PCL和OpenCV中flann库冲突的问题(Ubuntu20.04+VSCode)-Toy模板网

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解决PCL和OpenCV中flann库冲突的问题

做视觉处理，尤其是三维视觉和点云处理等，基本都离不开这俩大库，以前要么单独用OpenCV做二维，要么纯用PCL做点云后处理。因为准备把学习期间的代码整合起来，所以需要同时使用两个库，结果发现flann库冲突的问题🤪
查阅了一下网上的方案，基本有几种方案

1.建议改调用的flann头文件路径（要改全部的也太夸张了，要改用到的又不确定用到了哪些😅）
2.或者用不同的命名空间规避（根本没用到flann相关的函数就冲突了😕）
3.修改OpenCV中的flann文件夹名（相对靠谱点🤣）

方法1：修改OpenCV中的flann文件夹名

如果只打算使用PCL的flann库，可以通过修改OpenCV库中的flann文件夹名避免，但是治标不治本， ~~没有真正解决问题，只是解决了有问题的库~~ 🙃

执行如下两步，进入路径，更改名称，解决！（记得备份或者以后用的时候能想起改回来😶）

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

sudo mv flann/ flann2/

方法2：通过增加Cmake文件解决问题

索性直接搜索Ubuntu20.04+PCL+OpenCV环境的配置经验，还真研究出一些规律，大部分跑起来而且不提到flann库冲突问题的博客或者文章都是增加CMakeLists.txt文件实现的，然后就是昏天黑地的配置和试错时间😇

首先新建文件结构如下（~~直接把自己的放上来不是为了偷懒~~ ，如果有好心人可以推荐更精简或者更方便的文件结构那就太好辣🤡）

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

需要的文件内容如下

1. CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(Linx)

# ========================================
# === 构建静态库以加速
# ========================================
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库
# ========================================
find_package(PCL 1.8 REQUIRED)
    include_directories(${PCL_INCLUDE_DIRS})
    link_directories(${PCL_LIBRARY_DIRS})
    add_definitions(${PCL_DEFINITIONS})

# ========================================
# === OpenCV库
# ========================================
# 记得替换自己的路径
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": [
              "${workspaceFolder}/**",
              "/usr/include",
              "/usr/include/**",
              "/usr/include/x86_64-linux-gnu/sys",
              // 检查pcl路径
              "/usr/include/pcl-1.10",
              "/usr/include/eigen3",
              "/usr/include/eigen3/Eigen/", 
              "/usr/include/vtk-7.1",   
              "/usr/include/qhull",
              "/usr/include/flann",
              "/usr/include/boost",
              // 检查opencv路径
              "/usr/local/opencv4/include/opencv4"
          ],
          "defines": [],
          "compilerPath": "/usr/bin/gcc",
          "cStandard": "${default}",
          "cppStandard": "${default}",
          "intelliSenseMode": "linux-gcc-x64"
      }
  ],
  "version": 4
  }

3. .vscode/launch.json

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "g++ - 生成和调试活动文件",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/build/bin/Linx",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "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", // 按列出的顺序执行任务依赖项
            "dependsOn":[
                "cmake",
                "make"
            ]
        }
    ]
}