Open3D：Win10 + VS2017配置Open3D（C++、python）-蒲公英云

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
#include
#include

#include

// 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()