对ORB-SLAM2添加稠密重建模块，ROS编译报错：fatal error: pcl/common/transforms.h: No such file or directory

报错现象：

fatal error: pcl/common/transforms.h: No such file or directory

解决办法：

在/home/bruce/study/slam/orb/point_map/Examples/ROS/ORB_SLAM2目录下打开CMakeLists.txt文件作如下修改，原版的ORB-SLAM2没有添加PCL库等信息，现在只需要添加进去即可。

find_package(PCL 1.9.1 REQUIRED )  #添加了稠密点云显示，用到了pcl库，要找到PCL库并添加进来

include_directories(
${PROJECT_SOURCE_DIR}
${PCL_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

link_directories( ${PCL_LIBRARY_DIRS} )

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
${Boost_SYSTEM_LIBRARY}
${PCL_LIBRARIES}
)

来源：https://blog.csdn.net/weixin_44401286/article/details/102752911