Install PCL on macOS

Install PCL

Point Cloud Library’s Mac Installation Page

I installed with Homebrew:

Prepare Homebrew (if you have not already):

brew update
brew tap homebrew/science

Install PCL with Homebrew:

brew install pcl --with-examples --with-openni --with-openni2 --with-qt5 --with-surface_on_nurbs

Edit:

Options --with-qt5 and --with-surface_on_nurbs no longer exist.
I believe these are now included by default. Also, for me, --with-openni and --with-openni2 no longer work. Perhaps due to Apple buying OpenNI. In anycase, openni and openni2 are still available in homebrew. So, technically, these dependency libraries can still be downloaded.

To resolve the installation, install the following dependencies with homebrew (if you don’t have them already):

brew install cmake pkg-config boost cminpack eigen flann glew libusb qhull vtk openni openni2

Then git clone https://github.com/PointCloudLibrary/pcl.
Build pcl from source:

cd pcl
mkdir build && cd build

Then you need to enable build with openni and openni2 (since you have these already, it should work fine).

ccmake ..

Enable BUILD_examples, WITH_OPENNI, WITH_OPENNI2 and anything else you want. Hit c to configure, then g to build and quit ccmake.
Finally:

cmake ..
make -j8

Now you will have a working version of PCL. You can make install PCL so CMake can be used to simply find_package and you can build stand alone PCL dependent programs with CMake.

make install -j8

Yay~