pcl::io::savePCDFile 报错 “未定义的引用”

电脑平台：Ubuntu 16.04 64位

boost版本：1.58

pcl版本：1.7

g++/gcc版本：4.8（后改成5.0，才可以通过编译）

跟着做高翔的“一起做RGBD-SLAM“第三讲的时候，需要保存生成的点云图，在程序中使用的是下面的一条语句：

pcl::io::savePCDFile( "./data/pointcloud.pcd", *cloud);

但是在在cmake编译的时候总会报错，报错信息如下：

[ 87%] Building CXX object src/CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o
[100%] Linking CXX executable ../../bin/generate_pointcloud
CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o：在函数‘pcl::PCDWriter::write(std::string const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)’中：
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter5writeERKSsRKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNS6_10QuaternionIfLi0EEEb[_ZN3pcl9PCDWriter5writeERKSsRKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNS6_10QuaternionIfLi0EEEb]+0xc)：对‘pcl::PCDWriter::writeASCII(std::string const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, int)’未定义的引用
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter5writeERKSsRKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNS6_10QuaternionIfLi0EEEb[_ZN3pcl9PCDWriter5writeERKSsRKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNS6_10QuaternionIfLi0EEEb]+0x11)：对‘pcl::PCDWriter::writeBinary(std::string const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&)’未定义的引用
CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o：在函数‘int pcl::PCDWriter::writeASCII<pcl::PointXYZRGBA>(std::string const&, pcl::PointCloud<pcl::PointXYZRGBA> const&, int)’中：
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter10writeASCIIINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EEi[_ZN3pcl9PCDWriter10writeASCIIINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EEi]+0xd5)：对‘pcl::PCDWriter::setLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter10writeASCIIINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EEi[_ZN3pcl9PCDWriter10writeASCIIINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EEi]+0x78e)：对‘pcl::PCDWriter::resetLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
CMakeFiles/generate_pointcloud.dir/generatePointCloud.cpp.o：在函数‘int pcl::PCDWriter::writeBinary<pcl::PointXYZRGBA>(std::string const&, pcl::PointCloud<pcl::PointXYZRGBA> const&)’中：
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE]+0xf0)：对‘pcl::PCDWriter::setLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE]+0x516)：对‘pcl::PCDWriter::resetLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE]+0x73c)：对‘pcl::PCDWriter::resetLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE]+0x7ca)：对‘pcl::PCDWriter::resetLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE]+0x8b5)：对‘pcl::PCDWriter::resetLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
generatePointCloud.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_12PointXYZRGBAEEEiRKSsRKNS_10PointCloudIT_EE]+0x94e)：对‘pcl::PCDWriter::resetLockingPermissions(std::string const&, boost::interprocess::file_lock&)’未定义的引用
collect2: error: ld returned 1 exit status
src/CMakeFiles/generate_pointcloud.dir/build.make:437: recipe for target '../bin/generate_pointcloud' failed
make[2]: *** [../bin/generate_pointcloud] Error 1
CMakeFiles/Makefile2:202: recipe for target 'src/CMakeFiles/generate_pointcloud.dir/all' failed
make[1]: *** [src/CMakeFiles/generate_pointcloud.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

排查过程：

猜测1：怀疑 src/CMakeLists.txt 中对pcl 的引用方式有错

在Ubuntu14.04中，不需要添加修复指令，但是在Ubuntu 16.04中，需要在 src/CMakeLists.txt 中添加一条修复指令，详见如下：

# 增加PCL库的依赖
FIND_PACKAGE( PCL REQUIRED COMPONENTS common io visualization )

list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4") # use this in Ubuntu 16.04

# 添加头文件和库文件
ADD_DEFINITIONS( ${PCL_DEFINITIONS} )
INCLUDE_DIRECTORIES( ${PCL_INCLUDE_DIRS}  )
LINK_LIBRARIES( ${PCL_LIBRARY_DIRS} )

list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4") # use this in Ubuntu 16.04

标红的这句就是修复指令。但是写上还是不行

猜测2：pcl安装有问题

先从高翔的github上下载了源程序，里面有已经生成的pointcloud.pcd文件，假如说pcl库没有安装好，那么是打不开点云图的，所以就进入到pointcloud.pcd所在的文件夹下面，命令如下：

pcl_viewer pointcloud.pcd

结果，出来点云图了，说明安装的pcl库是没问题的

猜测3：g++/gcc 的版本不对

在之前安装opencv3的时候，也遇到过”未定义的引用“这类的问题，当时是我电脑上g++/gcc的版本是5.0，降低到4.8版本之后，才完成了opencv3的安装，之后也没有改回来。所以抱着试试的态度，把g++/gcc版本改回来

修改方法，参考我的另一篇：Ubuntu中g++ gcc安装及版本切换