VisualStuido2019编译Open3D

最新推荐文章于 2024-04-29 17:21:05 发布

guchaono1

最新推荐文章于 2024-04-29 17:21:05 发布

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分类专栏： c++ 文章标签： Open3D

本文链接：https://blog.csdn.net/guchaono1/article/details/113834517

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1、Cmake configure 后会有部分第三方依赖库无法下载，可自行在github 或官网下载后添加到 3rdparty文件夹中对应的第三方库文件夹中，需要注意的是拷贝路径要与3rdparty文件夹中原有的路径一致

2、ippcv

3、geometry编译时报错，其中两个关键的报警是下面两个，解决办法参照，intel-isl/open3d issue 2885 中的解决办法

open3d::geometry::line3d 没有成员transform，

planes使用未定义的class std::array<plane_t,6>

https://github.com/intel-isl/Open3D/pull/2885/commits/a27fbebe3e5df8df1a38061ce95b65bfc48bb415

	@@ -1,5 +1,6 @@
	#include "Line3D.h"		#include "Line3D.h"

			#include <array>
	#include <cmath>		#include <cmath>

	namespace open3d {		namespace open3d {
	@@ -27,7 +28,8 @@ Line3D::Line3D(const Eigen::Vector3d& origin,
	}		}

	void Line3D::Transform(const Eigen::Transform<double, 3, Eigen::Affine>& t) {		void Line3D::Transform(const Eigen::Transform<double, 3, Eigen::Affine>& t) {
	this->transform(t);		direction() = (t * direction()).normalized();
			origin() = t * origin();
	}		}

	std::pair<double, double> Line3D::SlabAABBBase(		std::pair<double, double> Line3D::SlabAABBBase(
	@@ -87,12 +89,12 @@ utility::optional<double> Line3D::ExactAABB(
	box.max_bound_ + Vector3d(tol, tol, tol)};		box.max_bound_ + Vector3d(tol, tol, tol)};

	using plane_t = Eigen::Hyperplane<double, 3>;		using plane_t = Eigen::Hyperplane<double, 3>;
	std::array<plane_t, 6> planes{{{{-1, 0, 0}, box.min_bound_},		std::array<plane_t, 6> planes{plane_t{Vector3d{-1, 0, 0}, box.min_bound_},
	{{1, 0, 0}, box.max_bound_},		plane_t{Vector3d{1, 0, 0}, box.max_bound_},
	{{0, -1, 0}, box.min_bound_},		plane_t{Vector3d{0, -1, 0}, box.min_bound_},
	{{0, 1, 0}, box.max_bound_},		plane_t{Vector3d{0, 1, 0}, box.max_bound_},
	{{0, 0, -1}, box.min_bound_},		plane_t{Vector3d{0, 0, -1}, box.min_bound_},
	{{0, 0, 1}, box.max_bound_}}};		plane_t{Vector3d{0, 0, 1}, box.max_bound_}};

	// Get the intersections		// Get the intersections
	std::vector<double> parameters;		std::vector<double> parameters;
	@@ -321,7 +323,7 @@ Segment3D::Segment3D(const std::pair<Eigen::Vector3d, Eigen::Vector3d>& pair)
	: Segment3D(std::get<0>(pair), std::get<1>(pair)) {}		: Segment3D(std::get<0>(pair), std::get<1>(pair)) {}

	void Segment3D::Transform(const Eigen::Transform<double, 3, Eigen::Affine>& t) {		void Segment3D::Transform(const Eigen::Transform<double, 3, Eigen::Affine>& t) {
	this->transform(t);		this->Transform(t);
	end_point_ = t * end_point_;		end_point_ = t * end_point_;
	}		}

4、jason 报错

[100%] Performing patch step for 'ext_jsoncpp'
error: patch failed: CMakeLists.txt:22
error: CMakeLists.txt: patch does not apply
error: patch failed: src/lib_json/CMakeLists.txt:125
error: src/lib_json/CMakeLists.txt: patch does not apply
make[3]: *** [CMakeFiles/ext_jsoncpp.dir/build.make:120: jsonc

https://github.com/intel-isl/Open3D/issues/3053

remove the build/jsoncpp folder and rebuild.

5、Eigen报错 Eigen::eigen_assert_exception missing from includes of src/Core/products/Parallelizer.h

在一个国外论坛中找到解决办法

https://linux.debian.bugs.rc.narkive.com/b1bOyTgl/bug-972105-libeigen3-dev-eigen-eigen-assert-exception-missing-from-includes-of-src-core-products

https://gitlab.com/libeigen/eigen/-/commit/ef3cc72cb65e2d500459c178c63e349bacfa834f

这个bug应该是Eigen 3.3.8 的bug