Windows 10 下MRPT +VS2019踩坑之路

捣鼓了两天了，经历了cmake的无数摧残，无数次配置系统的环境变量，先后安装了QT5，PCL库，wxWidgets以及各种不知名的其他玩意VS在最后编译时还是会各种毛病...已处于崩溃边缘。

（希望你们不要跟我一样走这条路，相信我真的不好走...自己编译是真的有太太太多坑了，特别是这个mrpt，不会像opencv那样容易）

最后还是自己摸索出，直接用安装好的那个mrpt目录（注意，这里的安装目录就是在官网上，下载那个windows版本的安装包，就像装软件一样，在安装过程中不是有个add path in 系统变量，会失败，找了好久解决方案，没找到所以放弃。就是因为这个系统变量也没添加进去，导致后面在VS中瞎配半天也成功不了，我也是服。ps:安装PCL点云包时也是一样的，吐槽：微软非要把这个path的容量设置那么小，再吐槽：mrpt官方那个维护有没有考虑过windows用户的感受，哭T T）在vs2019中配置，看图。

这是新建的一个项目，直接在右边这里的属性页面添加无数多个依赖的目录， 添加的路径都长这样，

没错，一个个手动的添加到VS的这个包含目录下，比如我的全部在包含目录下的路径：

D:\Program Files\opencv\build\include\opencv2
D:\vtk\LIb\include\vtk-8.2
D:\ITK\ITK\include\ITK-4.13
D:\mrpt\include\mrpt\apps\include
D:\mrpt\include\mrpt\bayes\include
D:\mrpt\include\mrpt\system\include
D:\mrpt\include\mrpt\slam\include
D:\mrpt\include\mrpt\serialization\include
D:\mrpt\include\mrpt\rtti\include
D:\mrpt\include\mrpt\random\include
D:\mrpt\include\mrpt\opengl\include
D:\mrpt\include\mrpt\obs\include
D:\mrpt\include\mrpt\nav\include
D:\mrpt\include\mrpt\nanogui\include
D:\mrpt\include\mrpt\math\include
D:\mrpt\include\mrpt\maps\include
D:\mrpt\include\mrpt\kinematics\include
D:\mrpt\include\mrpt\io\include
D:\mrpt\include\mrpt\img\include
D:\mrpt\include\mrpt\hwdrivers\include
D:\mrpt\include\mrpt\gui\include
D:\mrpt\include\mrpt\graphslam\include
D:\mrpt\include\mrpt\graphs\include
D:\mrpt\include\mrpt\expr\include
D:\mrpt\include\mrpt\detectors\include
D:\mrpt\include\mrpt\core\include
D:\mrpt\include\mrpt\containers\include
D:\mrpt\include\mrpt\config\include
D:\mrpt\include\mrpt\comms\include
D:\mrpt\include\mrpt\tclap\include
D:\mrpt\include\mrpt\vision\include
D:\mrpt\include\mrpt\typemeta\include
D:\mrpt\include\mrpt\topography\include
D:\mrpt\include\mrpt\tfest\include

当然链接器--输入那里的依赖包我就不多说了，配置过opencv，或者VTK的应该都知道。然后我现在还在解决VS中MRPT那个源码还有好多编译不了的。比如说现在这种头文件终于不报错了：

but， 看下图....

 找了找网上，说要c++编译器要用17版本，改了，没用。要安装其他的组件，装了，我实在不知道是不是还需要装游戏开发的unity了（不用），太难了吧。

当我耐心的装完一些我也不知道有没有用的插件，然后会来，发现还是没起作用，后面突然把debug模式改为release，诶，我发现源码终于不再报一些乱七八糟的错误了~！老天待我不薄啊！！！记得还是要改编译器成17版本。

 

 再配置好opencv，满欢期待，好家伙，又来错误了= =，内心是崩溃的。。

 

 好家伙，我在链接器--输入那里把opencv 和mrpt的依赖包全部加上，如图：

 

好家伙好家伙，程序终于跑出来了呜呜呜，两天了。啊，我要哭了~不管是个啥总之运行成功了不是，感动中....

 附上上面这个示例的官方的测试代码，我还小小的改动了一下：

// temp.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
//
/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#include <fstream>
#include <vector>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/math/distributions.h>
#include <mrpt/system/os.h>
//#include <mrpt/system/thread_name.h>
#include <windows.h>
//#include <mrpt/system/threads_name.h>
#include <opencv2/opencv.hpp>
#define MRPT_NO_WARN_BIG_HDR
//#include <mrpt/base.h>
using namespace cv;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::math;
//using namespace mrpt::utils;
using namespace std;


void myOnMenu(int menuID, float x, float y, void* param)
{
	switch (menuID)
	{
	case 0:
		cout << "Menu0: " << menuID << endl << " x=" << x << " y=" << y << endl;
		break;
	case 1:
		cout << "hmmmmm" << endl;
		break;
	default:
		break;
	}
}
// ------------------------------------------------------
//				TestDisplayPlots
// ------------------------------------------------------
void TestDisplayPlots()
{
	ifstream fileDPose;
	fileDPose.open("../pose_vioEKF.txt");
	CDisplayWindowPlots	 win("Example of function plot", 400, 400);
	win.hold_on();

	win.enableMousePanZoom(true);
	win.addPopupMenuEntry("Menu0", 0);
	win.addPopupMenuEntry("Menu1", 1);
	win.setMenuCallback(myOnMenu);
	//win.axis(-100,100,-100,100);
	while (!fileDPose.eof())
	{
		double tmp[16] = { 0 }; tmp[15] = 1;
		for (int j = 0; j < 12; j++)
			fileDPose >> tmp[j];

		std::vector<double> x, y;
		x.push_back(tmp[3]);
		y.push_back(tmp[7]);

		win.plot(x, y, "r.3");
		win.axis_fit();
		win.axis_equal(true);
		Sleep(10);
	}
	win.hold_off();

	while (1) { Sleep(50); }

	//    Mat img = imread("/home/zero/Desktop/displayPlots/zero.jpg");
	//    IplImage ts = img;
	//    CImage zero;
	//    zero.setFromIplImage(&ts);
	//    CDisplayWindowPlots	 winzero("Example of function plot",400,400);
	//    winzero.image(zero, 0,0,400,400);
	//    winzero.axis_equal();
	   // CDisplayWindowPlots	 win("Example of function plot",400,300);

	   // win.enableMousePanZoom(true);
	   // win.addPopupMenuEntry("Mark this point...",1);
	   // win.setMenuCallback(myOnMenu);

	   // Generate data for a 2D plot:
	   // CVectorDouble  X,Y;
	   // for (double x=0;x<5;x+=0.01f)
	   // {
	   // 	double y = math::normalPDF(x, 2,0.3);
	   // 	X.push_back(x);
	   // 	Y.push_back(y);
	   // }

	   // win.plot(X,Y,"r-3");
	   // win.axis_equal(false);
	   // win.axis_fit();

	   // win.setPos(10,10);

	//    win.hold_on();
	//        win.plot(X,"b.3");
	//            X = X+Y;
	//    win.plot(X,Y,"r.3");

	//    win.resize(800,600);
	   // win.axis_fit();

	//    while (1)
	   // {
	//        int x,y;
	   // 	mrpt::system::sleep(50);
	//        win.getLastMousePosition(x,y);
	//        cout << x <<  "  " <<  y <<endl;
	//        cout.flush();
	   // }
}


// ------------------------------------------------------
//						MAIN
// ------------------------------------------------------
int main()
{
	try
	{
		TestDisplayPlots();
		return 0;
	}
	catch (std::exception& e)
	{
		std::cout << "MRPT exception caught: " << e.what() << std::endl;
		return -1;
	}
	catch (...)
	{
		printf("Untyped exception!!");
		return -1;
	}
}