The following instructions show how to compile & install the {{{Point Cloud Library (or PCL) 1.5.1}}} on Mac OS X 10.6.8. The required dependencies will be built with the MacPorts system and {{{clang-3.2}}} whenever possible. {{{ # references: # - http://www.pointclouds.org/about.html # - http://www.pointclouds.org/downloads/ # - http://pointclouds.org/downloads/macosx.html # - http://dev.pointclouds.org/projects/pcl/wiki/How_to_create_DMG_installers # - http://pointclouds.org/documentation/tutorials/compiling_pcl_macosx.php # - http://pointclouds.org/documentation/tutorials/building_pcl.php#building-pcl # - http://www.kammerl.de/pcl/ # To reduce heat generation consider to increase fan rpm values by using smcFanControl 2.3, http://www.eidac.de/?p=207. # smcFanControl is just an application. # smcFanControl installs no permanent background processes or daemons. # smcFanControl doesn't let you set a minimum speed to a value below Apple's defaults. # To uninstall it, just drag it into the trash. sudo -H -i # cf. https://trac.macports.org/wiki/Scripts/testport_script /usr/local/bin/testport -p -l /opt/macports-test-universal export PATH="/opt/macports-test-universal/bin:/opt/macports-test-universal/sbin:/usr/bin:/bin:/usr/sbin:/sbin" alias testport='/usr/local/bin/testport' export LC_ALL=C # clang-3.2 +universal testport -l /opt/macports-test-universal clang-3.2 +universal configure.cc='/usr/bin/llvm-gcc-4.2' configure.cxx='/usr/bin/llvm-g++-4.2' # MacPorts: tar: Write error: Broken pipe # ---> Installing llvm-3.0 @3.0_4+universal # Error: Target org.macports.install returned: shell command failed (see log for details) # Error: Failed to install llvm-3.0 # Log for llvm-3.0 is at: /opt/macports-test-universal/var/macports/logs/_opt_macports-test-universal_var_macports_sources_rsync.macports.org_release_tarballs_ports_lang_llvm-3.0/llvm-3.0/main.log # # port log llvm-3.0 # ... # :info:install bzip2/libbzip2: internal error number 1007. # ... # :info:install *** A special note about internal error number 1007 *** # ... # :info:install tar: Write error: Broken pipe # :info:install shell command " cd "/opt/macports-test-universal/var/macports/build/_opt_macports-test-universal_var_macports_sources_rsync.macports.org_release_tarballs_ports_lang_llvm-3.0/llvm-3.0/work/destroot" && /usr/bin/tar -cvf - . | /usr/bin/bzip2 -c9 > /opt/macports-test-universal/var/macports/software/llvm-3.0/llvm-3.0-3.0_4+universal.darwin_10.i386-x86_64.tbz2 " returned error 3 # :error:install Target org.macports.install returned: shell command failed (see log for details) # ... cd "$(port dir llvm-3.0)"/work/destroot /usr/bin/tar -cvf - . | /usr/bin/bzip2 -c9 > /opt/macports-test-universal/var/macports/software/llvm-3.0/llvm-3.0-3.0_4+universal.darwin_10.i386-x86_64.tbz2 # redo: clang-3.2 +universal testport -l /opt/macports-test-universal clang-3.2 +universal configure.cc='/usr/bin/llvm-gcc-4.2' configure.cxx='/usr/bin/llvm-g++-4.2' # MacPorts: tar: Write error: Broken pipe (when installing llvm-3.2) # ... #cd "$(port dir llvm-3.2)"/work/destroot #/usr/bin/tar -cvf - . | /usr/bin/bzip2 -c9 > /opt/macports-test-universal/var/macports/software/llvm-3.2/llvm-3.2-3.2-r157234_0+assertions+universal.darwin_10.i386-x86_64.tbz2 # # alternative to tar ... | bzip2 ... #llvmdir='/opt/macports-test-universal/var/macports/software/llvm-3.2' #tar -cvf "${llvmdir}/llvm-3.2.tar" . #/usr/bin/bzip2 -c9 "${llvmdir}/llvm-3.2.tar" > "${llvmdir}/llvm-3.2-3.2-r157234_0+assertions+universal.darwin_10.i386-x86_64.tbz2" #rm -v "${llvmdir}/llvm-3.2.tar" # # redo: clang-3.2 +universal #testport -l /opt/macports-test-universal clang-3.2 +universal configure.cc='/usr/bin/llvm-gcc-4.2' configure.cxx='/usr/bin/llvm-g++-4.2' # glib2 +universal testport -l /opt/macports-test-universal glib2 +universal configure.cc='/usr/bin/llvm-gcc-4.2' configure.cxx='/usr/bin/llvm-g++-4.2' # apple-gcc42 +universal # gcc47 +universal # gcc48 +universal [[ -L '/usr/include/malloc.h' ]] && sudo mv -iv /usr/include/malloc.h /usr/include/malloc.h.moved testport -l /opt/macports-test-universal apple-gcc42 +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' testport -l /opt/macports-test-universal gcc47 +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' testport -l /opt/macports-test-universal gcc48 +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # cmake +universal testport -l /opt/macports-test-universal cmake +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # boost +universal testport -l /opt/macports-test-universal boost +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # doxygen +universal testport -l /opt/macports-test-universal doxygen +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # Error: You cannot install gd2 for the architecture(s) x86_64 i386 because # Error: its dependency fontconfig only contains the architecture(s) x86_64. # cf. "Error: Failed to install fontconfig", https://trac.macports.org/ticket/30329 # Non-fat file: /opt/macports-test-universal/lib/libfontconfig.dylib is architecture: x86_64 # Architectures in the fat file: /opt/macports-test-universal/lib/libfontconfig.dylib are: i386 x86_64 # lipo -info /opt/macports-test-universal/lib/*.dylib | grep -i 'Non-fat file' port -v installed pkgconfig libiconv expat freetype libiconv fontconfig lipo -info /opt/macports-test-universal/lib/libfontconfig.dylib port -n upgrade --force fontconfig +universal # gd2 +universal port clean --all gd2 testport -l /opt/macports-test-universal gd2 +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # netpbm +universal testport -l /opt/macports-test-universal netpbm +universal configure.cc='/usr/bin/llvm-gcc-4.2' configure.cxx='/usr/bin/llvm-g++-4.2' # graphviz +universal port clean --all graphviz testport -l /opt/macports-test-universal graphviz +universal configure.cc='/usr/bin/gcc-4.2' configure.cxx='/usr/bin/g++-4.2' # redo: doxygen +universal #testport -c -l /opt/macports-test-universal doxygen +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' testport -l /opt/macports-test-universal doxygen +universal configure.cc='/usr/bin/llvm-gcc-4.2' configure.cxx='/usr/bin/llvm-g++-4.2' # flann (not universal!) testport -l /opt/macports-test-universal flann configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # py27-sphinx +universal testport -l /opt/macports-test-universal py27-sphinx +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # google-test +universal # port info google-test # google-test @1.5.0 (devel) (May 2012) # googletest version >= 1.6.0 (http://code.google.com/p/googletest/) # Google's framework for writing C++ tests on a variety of platforms. Used to build test units. # testport -l /opt/macports-test-universal google-test +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # eigen3 +universal # qhull +universal # libusb-devel +universal export IFS=$' \t\n' for portname in eigen3 qhull libusb-devel; do printf '\n\n%s\n\n' "testport -l /opt/macports-test-universal ${portname} +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2'" testport -l /opt/macports-test-universal "${portname}" +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' done # vtk5 +universal+x11 port variants vtk5 testport -l /opt/macports-test-universal vtk5 +universal+x11 configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # sudo port select --set python python27 # sudo port load rsync # opencv +universal+python27 #testport -l /opt/macports-test-universal ffmpeg +universal testport -l /opt/macports-test-universal ffmpeg-devel +universal configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' testport -l /opt/macports-test-universal opencv +universal+python27 configure.cc='/opt/macports-test-universal/bin/clang-mp-3.2' configure.cxx='/opt/macports-test-universal/bin/clang++-mp-3.2' # OpenNI # install OpenNI in /usr/local-pcl # https://github.com/OpenNI/OpenNI/ export PATH="/opt/macports-test-universal/bin:/opt/macports-test-universal/sbin:/usr/bin:/bin:/usr/sbin:/sbin" cd /Users/${SUDO_USER}/Downloads || exit [[ ! -f OpenNI.zip ]] && { curl -L -o OpenNI.zip https://github.com/OpenNI/OpenNI/zipball/master || exit; } rm -rf *OpenNI-* unzip -qq OpenNI.zip cd *OpenNI-*/Platform/Linux*/CreateRedist/ chmod +x RedistMaker export CC='/opt/macports-test-universal/bin/clang-mp-3.2' CXX='/opt/macports-test-universal/bin/clang++-mp-3.2' export CFLAGS='-I/opt/macports-test-universal/include' LDFLAGS='-L/opt/macports-test-universal/lib' ./RedistMaker cd ../Redist/OpenNI* export X86_CXX=/opt/macports-test-universal/bin/clang++-mp-3.2 export X86_STAGING=/usr/local-pcl chmod +x install.sh cat <<-'EOF' | ed -s install.sh H /printf "copying shared libraries..."/a mkdir -p $INSTALL_LIB . /printf "copying executables..."/a mkdir -p $INSTALL_BIN . wq EOF ./install.sh -c "${X86_STAGING}" # sanitize .dylib install names otool -L /usr/local-pcl/usr/lib/* find /usr/local-pcl -type f -name "*.dylib" -print0 | while IFS="" read -r -d "" dylibpath; do echo install_name_tool -id "$dylibpath" "$dylibpath" install_name_tool -id "$dylibpath" "$dylibpath" done | nl otool -L /usr/local-pcl/usr/bin/* /usr/local-pcl/usr/lib/* find /usr/local-pcl/usr/bin /usr/local-pcl/usr/lib -type f -print0 | xargs -0 otool -L | grep '\.\./\.\./' | sort -u find /usr/local-pcl/usr/bin /usr/local-pcl/usr/lib -type f -print0 | while IFS="" read -r -d "" file; do old='../../Bin/x64-Release/libOpenNI.dylib' new='/usr/local-pcl/usr/lib/libOpenNI.dylib' sudo install_name_tool -change "$old" "$new" "$file" done dos2unixdir() { crchar="$(printf "\r")" grep -Ilsr -m 1 -Z -e "${crchar}" . | xargs -0 -n 1 /bin/sh -c ' crchar="$(printf "\r")" echo "crchar: ${1}" printf "%s\n" H ",g/${crchar}*$/s///g" wq | /bin/ed -s "${1}" ' argv0 return 0 } # Sensor # PrimeSensor Modules for OpenNI # https://github.com/PrimeSense/Sensor export PATH='/opt/macports-test-universal/bin:/opt/macports-test-universal/sbin:/usr/local-pcl/bin:/usr/bin:/bin:/usr/sbin:/sbin' cd /Users/${SUDO_USER}/Downloads || exit [[ ! -f Sensor.zip ]] && { curl -L -o Sensor.zip https://github.com/PrimeSense/Sensor/zipball/master || exit; } rm -rf *Sensor-* unzip -qq Sensor.zip cd PrimeSense-Sensor-* dos2unixdir cd ../PrimeSense-Sensor-*/Platform/Linux/CreateRedist export CC='/opt/macports-test-universal/bin/clang-mp-3.2' CXX='/opt/macports-test-universal/bin/clang++-mp-3.2' export CFLAGS='-I/usr/include -I/opt/macports-test-universal/include -I/usr/local-pcl/usr/include -I/usr/local-pcl/usr/include/ni' LDFLAGS='-L/opt/macports-test-universal/lib -L/usr/local-pcl/usr/lib' xattr -d com.apple.quarantine RedistMaker # remove -j option to make command in RedistMaker file printf '%s\n' H '/-j$(calc_jobs_number)/s///' wq | ed -s RedistMaker ./RedistMaker cd ../Redist/Sensor-Bin-MacOSX-* export X86_CXX=/opt/macports-test-universal/bin/clang++-mp-3.2 export X86_STAGING=/usr/local-pcl chmod +x install.sh ./install.sh -c "${X86_STAGING}" # sanitize .dylib install names otool -L /usr/local-pcl/usr/bin/* /usr/local-pcl/usr/lib/* find /usr/local-pcl/usr/lib /usr/local-pcl/usr/bin -type f -print0 | xargs -0 otool -L | grep '\.\./\.\./' | sort -u find /usr/local-pcl/usr/lib /usr/local-pcl/usr/bin -type f -print0 | while IFS="" read -r -d "" file; do old1='../../Bin/x64-Release/libOpenNI.dylib' new1='/usr/local-pcl/usr/lib/libOpenNI.dylib' old2='../../Bin/x64-Release/libXnCore.dylib' new2='/usr/local-pcl/usr/lib/libXnCore.dylib' old3='../../Bin/x64-Release/libXnDDK.dylib' new3='/usr/local-pcl/usr/lib/libXnDDK.dylib' old4='../../Bin/x64-Release/libXnDeviceFile.dylib' new4='/usr/local-pcl/usr/lib/libXnDeviceFile.dylib' old5='../../Bin/x64-Release/libXnDeviceSensorV2.dylib' new5='/usr/local-pcl/usr/lib/libXnDeviceSensorV2.dylib' old6='../../Bin/x64-Release/libXnFormats.dylib' new6='/usr/local-pcl/usr/lib/libXnFormats.dylib' sudo install_name_tool -change "$old1" "$new1" -change "$old2" "$new2" -change "$old3" "$new3" -change "$old4" "$new4" -change "$old5" "$new5" -change "$old6" "$new6" "$file" done # sanitize .dylib install names find /usr/local-pcl -type f -name "*.dylib" -print0 | while IFS="" read -r -d "" dylibpath; do echo install_name_tool -id "$dylibpath" "$dylibpath" install_name_tool -id "$dylibpath" "$dylibpath" done | nl otool -L /usr/local-pcl/usr/bin/* /usr/local-pcl/usr/lib/* # not needed anymore # cminpack 1.2.2 (in /usr/local-pcl) # http://devernay.free.fr/hacks/cminpack/index.html curl -L -O http://devernay.free.fr/hacks/cminpack/cminpack-1.2.2.tar.gz rm -rf cminpack-1.2.2 tar -xf cminpack-1.2.2.tar.gz cd cminpack-1.2.2 mkdir build cd build cmake -DUSE_FPIC=ON -DSHARED_LIBS=ON -DBUILD_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX=/usr/local-pcl .. make sudo make install otool -L /usr/local-pcl/lib/libcminpack.dylib sudo install_name_tool -id /usr/local-pcl/lib/libcminpack.1.0.90.dylib /usr/local-pcl/lib/libcminpack.1.0.90.dylib # PCL 1.5.1 (2012.02.22) # http://www.pointclouds.org/downloads/ cd /Users/${SUDO_USER}/Downloads [[ ! -f 'PCL-1.5.1-Source.tar.bz2' ]] && curl -L -O http://www.pointclouds.org/assets/files/1.5.1/PCL-1.5.1-Source.tar.bz2 rm -rf PCL-1.5.1-Source tar -xf PCL-1.5.1-Source.tar.bz2 cd PCL-1.5.1-Source #dos2unixdir export PATH='/opt/macports-test-universal/bin:/opt/macports-test-universal/sbin:/usr/local-pcl/bin:/usr/local-pcl/sbin:/usr/bin:/bin:/usr/sbin:/sbin' mkdir build cd build # error: no member named 'at' in namespace 'pcl::io::ply' fixed in PCL 1.6 # see: http://www.pcl-users.org/Couldn-t-install-with-Homebrew-td4000766.html and # http://dev.pointclouds.org/projects/pcl/repository/revisions/4918 # all three variants below did cause build / compiler (gcc) errors in the make build phase on Mac OS X 10.6.8 ###env CC=/opt/macports-test-universal/bin/clang-mp-3.2 CXX=/opt/macports-test-universal/bin/clang++-mp-3.2 \ ###env CC=/opt/macports-test-universal/bin/gcc-mp-4.7 CXX=/opt/macports-test-universal/bin/g++-mp-4.7 \ ###env CC=/opt/macports-test-universal/bin/gcc-mp-4.8 CXX=/opt/macports-test-universal/bin/g++-mp-4.8 \ #env CC=/usr/bin/gcc-4.2 CXX=/usr/bin/g++-4.2 \ env CC=/opt/macports-test-universal/bin/gcc-apple-4.2 CXX=/opt/macports-test-universal/bin/g++-apple-4.2 \ cmake -DCMAKE_PREFIX_PATH='/opt/macports-test-universal:/usr/local-pcl/usr' -DOPENNI_INCLUDE_DIR=/usr/local-pcl/usr/include/ni \ -DOPENNI_LIBRARY=/usr/local-pcl/usr/lib/libOpenNI.dylib -DCMAKE_INSTALL_PREFIX=/usr/local-pcl .. # edit cmake_install.cmake files: "lib..*\.dylib" --> "${CMAKE_INSTALL_PREFIX}/lib/lib..*\.dylib" printf '\n\n%s\n\n' "${PWD}: install_name_tool search & replace: \"lib..*.dylib\" --> \"\${CMAKE_INSTALL_PREFIX}/lib/lib..*.dylib\"" egrep -Ilsr -Z -e 'install_name_tool' . | xargs -0 egrep -Ils '"lib..*\.dylib"' | nl egrep -Ilsr -Z -e 'install_name_tool' . | xargs -0 egrep -Ils -Z '"lib..*\.dylib"' | xargs -0 -n 1 /bin/sh -c 'printf "%s\n" H "g/\"\(lib..*\.dylib\)\"/s||\"\${CMAKE_INSTALL_PREFIX}/lib/\1\"|g" wq | /bin/ed -s "${1}"' argv0 # for use with gcc-mp-4.7 / g++-mp-4.7 and gcc-mp-4.8 / g++-mp-4.8 only ###egrep -Ilsr -Z -e ' \-Wl ' . | xargs -0 -n 1 /bin/sh -c 'printf "%s\n" H "g/ \-Wl /s|| |g" wq | /bin/ed -s "${1}"' argv0 make make install find -x /usr/local-pcl/usr/bin /usr/local-pcl/usr/lib /usr/local-pcl/bin /usr/local-pcl/lib -type f -print0 | xargs -0 otool -L 2>/dev/null | less find /usr/local-pcl/usr/bin /usr/local-pcl/usr/lib /usr/local-pcl/bin /usr/local-pcl/lib -type f -print0 | xargs -0 otool -L | grep '\.\./\.\./' | sort -u }}} ---- List of essential files installed in {{{/usr/local-pcl}}}: {{{ find /usr/local-pcl/bin /usr/local-pcl/lib /usr/local-pcl/usr/bin /usr/local-pcl/usr/lib ! -type d | nl 1 /usr/local-pcl/bin/add_gaussian_noise 2 /usr/local-pcl/bin/boundary_estimation 3 /usr/local-pcl/bin/cluster_extraction 4 /usr/local-pcl/bin/compute_cloud_error 5 /usr/local-pcl/bin/concatenate_points_pcd 6 /usr/local-pcl/bin/convert_pcd_ascii_binary 7 /usr/local-pcl/bin/crop_to_hull 8 /usr/local-pcl/bin/elch 9 /usr/local-pcl/bin/extract_feature 10 /usr/local-pcl/bin/feature_matching 11 /usr/local-pcl/bin/fpfh_estimation 12 /usr/local-pcl/bin/gp3_surface 13 /usr/local-pcl/bin/icp 14 /usr/local-pcl/bin/icp2d 15 /usr/local-pcl/bin/marching_cubes_reconstruction 16 /usr/local-pcl/bin/mesh2pcd 17 /usr/local-pcl/bin/mesh_sampling 18 /usr/local-pcl/bin/multiscale_feature_persistence_example 19 /usr/local-pcl/bin/nn_classification_example 20 /usr/local-pcl/bin/normal_estimation 21 /usr/local-pcl/bin/octree_viewer 22 /usr/local-pcl/bin/oni_viewer 23 /usr/local-pcl/bin/openni_3d_concave_hull 24 /usr/local-pcl/bin/openni_3d_convex_hull 25 /usr/local-pcl/bin/openni_boundary_estimation 26 /usr/local-pcl/bin/openni_change_viewer 27 /usr/local-pcl/bin/openni_fast_mesh 28 /usr/local-pcl/bin/openni_feature_persistence 29 /usr/local-pcl/bin/openni_grab_frame 30 /usr/local-pcl/bin/openni_grabber_example 31 /usr/local-pcl/bin/openni_ii_normal_estimation 32 /usr/local-pcl/bin/openni_image 33 /usr/local-pcl/bin/openni_io 34 /usr/local-pcl/bin/openni_mls_smoothing 35 /usr/local-pcl/bin/openni_passthrough 36 /usr/local-pcl/bin/openni_planar_convex_hull 37 /usr/local-pcl/bin/openni_planar_segmentation 38 /usr/local-pcl/bin/openni_save_image 39 /usr/local-pcl/bin/openni_stream_compression 40 /usr/local-pcl/bin/openni_tracking 41 /usr/local-pcl/bin/openni_uniform_sampling 42 /usr/local-pcl/bin/openni_viewer 43 /usr/local-pcl/bin/openni_voxel_grid 44 /usr/local-pcl/bin/outlier_removal 45 /usr/local-pcl/bin/passthrough_filter 46 /usr/local-pcl/bin/pcd2ply 47 /usr/local-pcl/bin/pcd2vtk 48 /usr/local-pcl/bin/pcd_convert_NaN_nan 49 /usr/local-pcl/bin/pcd_grabber_viewer 50 /usr/local-pcl/bin/pcd_viewer 51 /usr/local-pcl/bin/plane_projection 52 /usr/local-pcl/bin/ply2obj 53 /usr/local-pcl/bin/ply2ply 54 /usr/local-pcl/bin/ply2raw 55 /usr/local-pcl/bin/plyheader 56 /usr/local-pcl/bin/ppf_object_recognition 57 /usr/local-pcl/bin/pyramid_surface_matching 58 /usr/local-pcl/bin/registration_visualizer 59 /usr/local-pcl/bin/spin_estimation 60 /usr/local-pcl/bin/statistical_multiscale_interest_region_extraction_example 61 /usr/local-pcl/bin/surfel_smoothing_test 62 /usr/local-pcl/bin/test_search_speed 63 /usr/local-pcl/bin/timed_trigger_test 64 /usr/local-pcl/bin/transform_point_cloud 65 /usr/local-pcl/bin/vfh_estimation 66 /usr/local-pcl/bin/virtual_scanner 67 /usr/local-pcl/bin/voxel_grid 68 /usr/local-pcl/lib/libcminpack.1.0.90.dylib 69 /usr/local-pcl/lib/libcminpack.dylib 70 /usr/local-pcl/lib/libpcl_apps.1.5.1.dylib 71 /usr/local-pcl/lib/libpcl_apps.1.5.dylib 72 /usr/local-pcl/lib/libpcl_apps.dylib 73 /usr/local-pcl/lib/libpcl_common.1.5.1.dylib 74 /usr/local-pcl/lib/libpcl_common.1.5.dylib 75 /usr/local-pcl/lib/libpcl_common.dylib 76 /usr/local-pcl/lib/libpcl_features.1.5.1.dylib 77 /usr/local-pcl/lib/libpcl_features.1.5.dylib 78 /usr/local-pcl/lib/libpcl_features.dylib 79 /usr/local-pcl/lib/libpcl_filters.1.5.1.dylib 80 /usr/local-pcl/lib/libpcl_filters.1.5.dylib 81 /usr/local-pcl/lib/libpcl_filters.dylib 82 /usr/local-pcl/lib/libpcl_io.1.5.1.dylib 83 /usr/local-pcl/lib/libpcl_io.1.5.dylib 84 /usr/local-pcl/lib/libpcl_io.dylib 85 /usr/local-pcl/lib/libpcl_io_ply.1.5.1.dylib 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