Open3D：Win10 + VS2017配置Open3D（C++、python）

港控/mmm° 2022-09-11 13:20 844阅读 0赞

累了就要打游戏 2020-08-25 15:13:10  3350  收藏 25  
分类专栏： \# Open3D 文章标签： 点云 Open3D C++  
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Open3D  
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20200825：今天七夕，呱呱呱

Open3D是一个支持三维数据处理的开源库，支持C ++和Python。后端经过高度优化，并设置为并行化。MIT协议。

官网：http://www.open3d.org/

GitHub: https://github.com/intel-isl/Open3D

python版本安装方便：pip install open3d  或者

pip install -i https://pypi.tuna.tsinghua.edu.cn/simple open3d  
下面介绍C++版本的配置（相比于一行python代码，C++真是牛逼）

一、下载源码  
GitHub地址：https://github.com/intel-isl/Open3D

1.1 克隆源码【笔者的源码路径为 D:/Open3D/Open3D】

1.2 切换版本【笔者用过的版本为 v0.8.0 和 v0.10.0】

1.3 更新子模块【用于获取第三方库！很重要！】

注意：v0.8.0更新的时候没有报错；但是v0.10.0更新的时候失败了【抱着试试的心态继续进行，后续没出错，感觉是我 git 用的还不熟练的原因吧】

结果如下：

二、CMake编译  
2.1 设置路径

【source code: D:/Open3D/Open3D； build binaries: D:/Open3D】

【笔者设置 CMAKE/CMAKE\_INSTALL\_PREFIX 的路径为 D:/Open3D/install】

2.2 generator选择 Visual Studio 15 2017【官方建议 VS2019及以上】，optional platform for generator 选择x64

2.3 Configure -> Configure done

2.4 Generate -> Generating done

三、生成解决方案  
3.1 打开

VS2017打开 D:/Open3D/Open3D.sln【官方建议 VS2019及以上】Release-x64

3.2 将CMakePredefinedTargets/ALL\_BUILD设为启动项，右击生成

【v0.8.0版本报错了：...\\VS2017\\IDE\\Common7\\IDE\\VC\\VCTargets\\Microsoft.CppCommon.targets(209,5): error MSB6006: “cmd.exe”已退出，代码为 9009。后续没报错，所以貌似好像应该可能大概 没啥影响吧】

【v0.10.0版本没有报错：成功61个】

3.3 打包包

右击 CMakePredefinedTargets/INSTALL，仅用于项目 -> 仅生成INSTALL；

在 D:/Open3D/install 中会生成CMake文件、头文件、静态库，如下图

四、测试  
官方参考：http://www.open3d.org/docs/release/cpp\_project.html\#create-cplusplus-project【very nice】

4.1 下载测试文件

下载TestVisualizer.cpp和 CMakeLists.txt到 F:/testVisualizer【路径随便改，高兴就行】

4.2 修改TestVisualizer.cpp，完整代码如下：

\#include <iostream>  
\#include <memory>  
\#include <thread>  
   
\#include <Open3D/Open3D.h>  
   
// A simplified version of examples/Cpp/Visualizer.cpp to demonstrate linking  
// an external project to Open3D.  
int main(int argc, char \*argv\[\])  
\{  
    /\* add by lljydyx \*/  
    argc = 4;  
    argv\[1\] = "pointcloud";  
    argv\[2\] = "F:/rabbit.pcd";  
   
   
    using namespace open3d;  
   
    utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);  
    if (argc < 3)  
    \{  
        utility::LogInfo("Open3D \{\}\\n", OPEN3D\_VERSION);  
        utility::LogInfo("\\n");  
        utility::LogInfo("Usage:\\n");  
        utility::LogInfo("    > TestVisualizer \[mesh|pointcloud\] \[filename\]\\n");  
        // CI will execute this file without input files, return 0 to pass  
        return 0;  
    \}  
   
    std::string option(argv\[1\]);  
    if (option == "mesh")  
    \{  
        auto mesh\_ptr = std::make\_shared<geometry::TriangleMesh>();  
        if (io::ReadTriangleMesh(argv\[2\], \*mesh\_ptr)) \{  
            utility::LogInfo("Successfully read \{\}\\n", argv\[2\]);  
        \} else \{  
            utility::LogWarning("Failed to read \{\}\\n\\n", argv\[2\]);  
            return 1;  
        \}  
        mesh\_ptr->ComputeVertexNormals();  
        visualization::DrawGeometries(\{mesh\_ptr\}, "Mesh", 1600, 900);  
    \}  
    else if (option == "pointcloud")  
    \{  
        auto cloud\_ptr = std::make\_shared<geometry::PointCloud>();  
        if (io::ReadPointCloud(argv\[2\], \*cloud\_ptr))  
        \{  
            utility::LogInfo("Successfully read \{\}\\n", argv\[2\]);  
        \}  
        else  
        \{  
            utility::LogWarning("Failed to read \{\}\\n\\n", argv\[2\]);  
            return 1;  
        \}  
        cloud\_ptr->NormalizeNormals();  
        visualization::DrawGeometries(\{cloud\_ptr\}, "PointCloud", 1600, 900);  
    \}  
    else  
    \{  
        utility::LogWarning("Unrecognized option: \{\}\\n", option);  
        return 1;  
    \}  
    utility::LogInfo("End of the test.\\n");  
   
    return 0;  
\}  
CMakeList.txt 如下：

cmake\_minimum\_required(VERSION 3.1)  
set (CMAKE\_CXX\_STANDARD 14)  
   
project(TestVisualizer)  
   
\# Find installed Open3D, this imports  
\#   Open3D\_INCLUDE\_DIRS  
\#   Open3D\_LIBRARIES  
\#   Open3D\_LIBRARY\_DIRS  
\#   Open3D\_C\_FLAGS  
\#   Open3D\_CXX\_FLAGS  
\#   Open3D\_EXE\_LINKER\_FLAGS  
if(WIN32)  
    find\_package(Open3D HINTS $\{CMAKE\_INSTALL\_PREFIX\}/CMake)  
else()  
    find\_package(Open3D HINTS $\{CMAKE\_INSTALL\_PREFIX\}/lib/CMake)  
    list(APPEND Open3D\_LIBRARIES dl)  
endif()  
   
set(CMAKE\_C\_FLAGS "$\{CMAKE\_C\_FLAGS\} $\{Open3D\_C\_FLAGS\}")  
set(CMAKE\_CXX\_FLAGS "$\{CMAKE\_CXX\_FLAGS\} $\{Open3D\_CXX\_FLAGS\}")  
set(CMAKE\_EXE\_LINKER\_FLAGS "$\{CMAKE\_EXE\_LINKER\_FLAGS\} $\{Open3D\_EXE\_LINKER\_FLAGS\}")  
   
\# Set OS-specific things here  
if(WIN32)  
    if (ENABLE\_GUI)  
        set(CMAKE\_EXE\_LINKER\_FLAGS "$\{CMAKE\_EXE\_LINKER\_FLAGS\} /FORCE:MULTIPLE")  
        \# Filament is built with /MT\[d\], but by default CMake automatically  
        \# sets "/MD" and "/MDd". They can't coexist, so we need to replace them.  
        string(REPLACE "/MD" "/MT" CMAKE\_C\_FLAGS\_RELEASE $\{CMAKE\_C\_FLAGS\_RELEASE\})  
        string(REPLACE "/MDd" "/MTd" CMAKE\_C\_FLAGS\_DEBUG $\{CMAKE\_C\_FLAGS\_DEBUG\})  
        string(REPLACE "/MD" "/MT" CMAKE\_CXX\_FLAGS\_RELEASE $\{CMAKE\_CXX\_FLAGS\_RELEASE\})  
        string(REPLACE "/MDd" "/MTd" CMAKE\_CXX\_FLAGS\_DEBUG $\{CMAKE\_CXX\_FLAGS\_DEBUG\})  
    endif()  
elseif(CYGWIN)  
elseif(APPLE)  
elseif(UNIX)  
    add\_definitions(-DUNIX)  
    add\_compile\_options(-Wno-deprecated-declarations)  
    add\_compile\_options(-Wno-unused-result)  
    add\_definitions(-O3)  
endif(WIN32)  
   
\# Open3D  
if (Open3D\_FOUND)  
    message(STATUS "Found Open3D $\{Open3D\_VERSION\}")  
   
    \# link\_directories must be before add\_executable  
    link\_directories($\{Open3D\_LIBRARY\_DIRS\})  
   
    add\_executable(TestVisualizer TestVisualizer.cpp)  
   
    target\_link\_libraries(TestVisualizer $\{Open3D\_LIBRARIES\})  
   
    target\_include\_directories(TestVisualizer PUBLIC $\{Open3D\_INCLUDE\_DIRS\})  
   
    \# Hot fix windows dll not found issue, assumming we're using the Release build  
    option(BUILD\_SHARED\_LIBS "Whether Open3D was build as shared library" OFF)  
    if(WIN32 AND BUILD\_SHARED\_LIBS)  
        message("Will copy Open3D.dll to $\{CMAKE\_CURRENT\_BINARY\_DIR\}/Release")  
        add\_custom\_command(TARGET TestVisualizer POST\_BUILD  
                        COMMAND $\{CMAKE\_COMMAND\} -E copy  
                                $\{CMAKE\_INSTALL\_PREFIX\}/bin/Open3D.dll  
                                $\{CMAKE\_CURRENT\_BINARY\_DIR\}/Release)  
    endif()  
    if(WIN32 AND ENABLE\_GUI)  
        message("Will copy SDL2.dll to $\{CMAKE\_CURRENT\_BINARY\_DIR\}/Release")  
        add\_custom\_command(TARGET TestVisualizer POST\_BUILD  
                        COMMAND $\{CMAKE\_COMMAND\} -E copy  
                                $\{CMAKE\_INSTALL\_PREFIX\}/lib/SDL2.dll  
                                $\{CMAKE\_CURRENT\_BINARY\_DIR\}/Release)  
    endif()  
   
else ()  
    message(SEND\_ERROR "Open3D not found")  
endif ()  
4.3 按照官方参考进行 CMake 编译【笔者的Open3D\_DIR路径为 D:/Open3D/install/CMake 】

4.4 Configure -> Configure done

4.5 Generate -> Generating done

五、运行  
VS2017打开 F:\\testVisualizer\\build\\TestVisualizer.sln，Release-x64

将ALL\_BUILD设置为启动项，右击生成。

将TestVisualizer设置为启动项，运行结果如下

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原文链接：https://blog.csdn.net/xinjiang666/article/details/108208133