编译HesaiLidar_General_SDK提示Eigen/Core缺失的问题及解决方法

问题表现 #

编译过程中触发以下报错：

[  8%] Building CXX object src/PandarGeneralRaw/CMakeFiles/PandarGeneral.dir/src/pandarGeneral_internal.cc.o
In file included from /usr/include/pcl-1.10/pcl/io/pcd_io.h:42,
                 from /home/rock/Downloads/HesaiLidar_General_SDK/src/PandarGeneralRaw/include/pandarGeneral/pandarGeneral_internal.h:20,
                 from /home/rock/Downloads/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.cc:20:
/usr/include/pcl-1.10/pcl/pcl_macros.h:75:10: fatal error: Eigen/Core: No such file or directory
   75 | #include <Eigen/Core>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [src/PandarGeneralRaw/CMakeFiles/PandarGeneral.dir/build.make:76: src/PandarGeneralRaw/CMakeFiles/PandarGeneral.dir/src/pandarGeneral_internal.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:153: src/PandarGeneralRaw/CMakeFiles/PandarGeneral.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

根因说明 #

Eigen3库默认安装后头文件存放在/usr/include/eigen3/Eigen路径下，而依赖Eigen的PCL库头文件会直接从系统头文件根目录/usr/include/查找Eigen/路径，路径不匹配导致头文件找不到。

解决方法 #

执行以下命令创建软链接，将Eigen目录映射到系统默认头文件查找路径即可：

ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

如果执行提示权限不足，在命令前加上sudo以管理员权限运行即可。

内容的提问来源于stack exchange，提问作者Hooded Gang