Win10+VS2019编译PCL库1.12.0（含gpu）

PCL1.12.0

Windows 10

VS2019

CMAKE 3.21.1

CUDA 11.3

一、安装cuda和cudnn

        cuda下载地址，cudnn下载地址

        先装cuda，然后把cudnn解压后的文件放到cuda目录下对应的文件夹内。

        最后cmd内打命令nvcc -V验证安装。

二、安装3rdParty

PCL releases地址，在这里下载AllInOne和源码。下载AllInOne是为了安装3rdParty。当然需要调试符号的请顺便把pdb一并下载了。

 AllInOne安装的时候不要安装PCL库，而只选择3rdParty。本例中安装路径是D:\Program Files\PCL 1.12.0。

三、编译pcl

        打开cmake-gui（由于boost原因，要用cmake的最新版本），源码选择Source code的解压地址，本例中是D:/open_source_lib/source/pcl-1.12.0。配置输出路径，本例中是D:/open_source_lib/dist/pcl-1.12.0build。点击Configure，安装自己的需求选择架构，我的配置如下图。

报错如下。首先是找不到Eigen。（图是1.11的，1.12.0版本类似）

EIGEN_ROOT      D:/Program Files/PCL 1.12.0/3rdParty/Eigen/eigen3

EIGEN_INCLUDE_DIR        D:/Program Files/PCL 1.12.0/3rdParty/Eigen/eigen3

把缺失的变量补全即可。其他变量同理，记录如下。不必补全所有的变量，缺啥补啥即可。

FLANN_INCLUDE_DIR      D:/Program Files/PCL 1.12.0/3rdParty/FLANN/include

FLANN_LIBRARY       D:/Program Files/PCL 1.12.0/3rdParty/FLANN/lib/flann_cpp_s.lib

FLANN_LIBRARY_DEBUG       D:/Program Files/PCL 1.12.0/3rdParty/FLANN/lib/flann_cpp_s-gd.lib

BOOST_ROOT        D:/Program Files/PCL 1.12.0/3rdParty/Boost/

VTK_DIR              D:/Program Files/PCL 1.12.0/3rdParty/VTK/lib/cmake/vtk-9.0 

QHULL_INCLUDE_DIR         可缺省

QHULL_LIBRARY      D:/Program Files/PCL 1.12.0/3rdParty/Qhull/lib/qhullstatic.lib

QHULL_LIBRARY_DEBUG      D:/Program Files/PCL 1.12.0/3rdParty/Qhull/lib/qhullstatic_d.lib

没有的变量可以通过Add Entry添加，文件名的type选filepath，文件夹名的type选path。

记得勾选WITH_CUDA，这个选项决定你能否使用GPU模块。

完毕之后再Configure可以得到0报错，并显示Configuring done。

然后点击Generate，得到下图信息说明生成成功。

此时在输出目录D:\open_source_lib\dist\pcl-1.12.0build下会出现PCL.sln工程文件。使用VS打开它，右键ALL_BUILD生成，然后INSTALL。

四、可能出现的问题

1.出现关于“__hadd”的报错：

将3rdParty\Eigen\eigen3\Eigen\src\Core\arch\CUDA\Half.h文件212行

EIGEN_STRONG_INLINE __device__ half operator + (const half& a, const half& b) {
  return __hadd(a, b);
}

改成
EIGEN_STRONG_INLINE __device__ half operator + (const half& a, const half& b) {
#if defined(EIGEN_CUDACC_VER) && EIGEN_CUDACC_VER >= 90000
  return __hadd(::__half(a), ::__half(b));
#else
  return __hadd(a, b);
#endif
}

将

EIGEN_STRONG_INLINE __device__ half operator / (const half& a, const half& b) {
  float num = __half2float(a);
  float denom = __half2float(b);
  return __float2half(num / denom);
}

改为

EIGEN_STRONG_INLINE __device__ half operator / (const half& a, const half& b) {
  #if defined(EIGEN_CUDACC_VER) && EIGEN_CUDACC_VER >= 90000
     return __hdiv(a, b);
  #else
    float num = __half2float(a);
    float denom = __half2float(b);
    return __float2half(num / denom);
  #endif
}

2."pop_t":未声明的标识符

解决：503typedef unsigned long long pop_t语句转移到#if __GNUC__之前

三、新项目配置

包含目录

库目录

预处理器

_CRT_SECURE_NO_WARNINGS
BOOST_USE_WINDOWS_H
PCL_NO_PRECOMPILE

链接器-输入（release）

pcl_common.lib
pcl_cuda_features.lib
pcl_cuda_sample_consensus.lib
pcl_cuda_segmentation.lib
pcl_features.lib
pcl_filters.lib
pcl_gpu_containers.lib
pcl_gpu_features.lib
pcl_gpu_octree.lib
pcl_gpu_segmentation.lib
pcl_gpu_utils.lib
pcl_io.lib
pcl_io_ply.lib
pcl_kdtree.lib
pcl_keypoints.lib
pcl_ml.lib
pcl_octree.lib
pcl_outofcore.lib
pcl_people.lib
pcl_recognition.lib
pcl_registration.lib
pcl_sample_consensus.lib
pcl_search.lib
pcl_segmentation.lib
pcl_stereo.lib
pcl_surface.lib
pcl_tracking.lib
pcl_visualization.lib
OpenNI2.lib
libboost_atomic-vc142-mt-x64-1_76.lib
libboost_bzip2-vc142-mt-x64-1_76.lib
libboost_chrono-vc142-mt-x64-1_76.lib
libboost_container-vc142-mt-x64-1_76.lib
libboost_context-vc142-mt-x64-1_76.lib
libboost_contract-vc142-mt-x64-1_76.lib
libboost_coroutine-vc142-mt-x64-1_76.lib
libboost_date_time-vc142-mt-x64-1_76.lib
libboost_exception-vc142-mt-x64-1_76.lib
libboost_fiber-vc142-mt-x64-1_76.lib
libboost_filesystem-vc142-mt-x64-1_76.lib
libboost_graph-vc142-mt-x64-1_76.lib
libboost_graph_parallel-vc142-mt-x64-1_76.lib
libboost_iostreams-vc142-mt-x64-1_76.lib
libboost_json-vc142-mt-x64-1_76.lib
libboost_locale-vc142-mt-x64-1_76.lib
libboost_log-vc142-mt-x64-1_76.lib
libboost_log_setup-vc142-mt-x64-1_76.lib
libboost_math_c99-vc142-mt-x64-1_76.lib
libboost_math_c99f-vc142-mt-x64-1_76.lib
libboost_math_c99l-vc142-mt-x64-1_76.lib
libboost_math_tr1-vc142-mt-x64-1_76.lib
libboost_math_tr1f-vc142-mt-x64-1_76.lib
libboost_math_tr1l-vc142-mt-x64-1_76.lib
libboost_mpi-vc142-mt-x64-1_76.lib
libboost_nowide-vc142-mt-x64-1_76.lib
libboost_numpy38-vc142-mt-x64-1_76.lib
libboost_prg_exec_monitor-vc142-mt-x64-1_76.lib
libboost_program_options-vc142-mt-x64-1_76.lib
libboost_python38-vc142-mt-x64-1_76.lib
libboost_random-vc142-mt-x64-1_76.lib
libboost_regex-vc142-mt-x64-1_76.lib
libboost_serialization-vc142-mt-x64-1_76.lib
libboost_stacktrace_noop-vc142-mt-x64-1_76.lib
libboost_stacktrace_windbg-vc142-mt-x64-1_76.lib
libboost_stacktrace_windbg_cached-vc142-mt-x64-1_76.lib
libboost_system-vc142-mt-x64-1_76.lib
libboost_test_exec_monitor-vc142-mt-x64-1_76.lib
libboost_thread-vc142-mt-x64-1_76.lib
libboost_timer-vc142-mt-x64-1_76.lib
libboost_type_erasure-vc142-mt-x64-1_76.lib
libboost_unit_test_framework-vc142-mt-x64-1_76.lib
libboost_wave-vc142-mt-x64-1_76.lib
libboost_wserialization-vc142-mt-x64-1_76.lib
libboost_zlib-vc142-mt-x64-1_76.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_r.lib
vtkChartsCore-9.0.lib
vtkCommonColor-9.0.lib
vtkCommonComputationalGeometry-9.0.lib
vtkCommonCore-9.0.lib
vtkCommonDataModel-9.0.lib
vtkCommonExecutionModel-9.0.lib
vtkCommonMath-9.0.lib
vtkCommonMisc-9.0.lib
vtkCommonSystem-9.0.lib
vtkCommonTransforms-9.0.lib
vtkDICOMParser-9.0.lib
vtkDomainsChemistry-9.0.lib
vtkDomainsChemistryOpenGL2-9.0.lib
vtkdoubleconversion-9.0.lib
vtkexodusII-9.0.lib
vtkexpat-9.0.lib
vtkFiltersAMR-9.0.lib
vtkFiltersCore-9.0.lib
vtkFiltersExtraction-9.0.lib
vtkFiltersFlowPaths-9.0.lib
vtkFiltersGeneral-9.0.lib
vtkFiltersGeneric-9.0.lib
vtkFiltersGeometry-9.0.lib
vtkFiltersHybrid-9.0.lib
vtkFiltersHyperTree-9.0.lib
vtkFiltersImaging-9.0.lib
vtkFiltersModeling-9.0.lib
vtkFiltersParallel-9.0.lib
vtkFiltersParallelImaging-9.0.lib
vtkFiltersPoints-9.0.lib
vtkFiltersProgrammable-9.0.lib
vtkFiltersSelection-9.0.lib
vtkFiltersSMP-9.0.lib
vtkFiltersSources-9.0.lib
vtkFiltersStatistics-9.0.lib
vtkFiltersTexture-9.0.lib
vtkFiltersTopology-9.0.lib
vtkFiltersVerdict-9.0.lib
vtkfreetype-9.0.lib
vtkGeovisCore-9.0.lib
vtkgl2ps-9.0.lib
vtkglew-9.0.lib
vtkhdf5-9.0.lib
vtkhdf5_hl-9.0.lib
vtkImagingColor-9.0.lib
vtkImagingCore-9.0.lib
vtkImagingFourier-9.0.lib
vtkImagingGeneral-9.0.lib
vtkImagingHybrid-9.0.lib
vtkImagingMath-9.0.lib
vtkImagingMorphological-9.0.lib
vtkImagingSources-9.0.lib
vtkImagingStatistics-9.0.lib
vtkImagingStencil-9.0.lib
vtkInfovisCore-9.0.lib
vtkInfovisLayout-9.0.lib
vtkInteractionImage-9.0.lib
vtkInteractionStyle-9.0.lib
vtkInteractionWidgets-9.0.lib
vtkIOAMR-9.0.lib
vtkIOAsynchronous-9.0.lib
vtkIOCityGML-9.0.lib
vtkIOCore-9.0.lib
vtkIOEnSight-9.0.lib
vtkIOExodus-9.0.lib
vtkIOExport-9.0.lib
vtkIOExportGL2PS-9.0.lib
vtkIOExportPDF-9.0.lib
vtkIOGeometry-9.0.lib
vtkIOImage-9.0.lib
vtkIOImport-9.0.lib
vtkIOInfovis-9.0.lib
vtkIOLegacy-9.0.lib
vtkIOLSDyna-9.0.lib
vtkIOMINC-9.0.lib
vtkIOMotionFX-9.0.lib
vtkIOMovie-9.0.lib
vtkIONetCDF-9.0.lib
vtkIOOggTheora-9.0.lib
vtkIOParallel-9.0.lib
vtkIOParallelXML-9.0.lib
vtkIOPLY-9.0.lib
vtkIOSegY-9.0.lib
vtkIOSQL-9.0.lib
vtkIOTecplotTable-9.0.lib
vtkIOVeraOut-9.0.lib
vtkIOVideo-9.0.lib
vtkIOXML-9.0.lib
vtkIOXMLParser-9.0.lib
vtkjpeg-9.0.lib
vtkjsoncpp-9.0.lib
vtklibharu-9.0.lib
vtklibproj-9.0.lib
vtklibxml2-9.0.lib
vtkloguru-9.0.lib
vtklz4-9.0.lib
vtklzma-9.0.lib
vtkmetaio-9.0.lib
vtknetcdf-9.0.lib
vtkogg-9.0.lib
vtkParallelCore-9.0.lib
vtkParallelDIY-9.0.lib
vtkpng-9.0.lib
vtkpugixml-9.0.lib
vtkRenderingAnnotation-9.0.lib
vtkRenderingContext2D-9.0.lib
vtkRenderingContextOpenGL2-9.0.lib
vtkRenderingCore-9.0.lib
vtkRenderingFreeType-9.0.lib
vtkRenderingGL2PSOpenGL2-9.0.lib
vtkRenderingImage-9.0.lib
vtkRenderingLabel-9.0.lib
vtkRenderingLOD-9.0.lib
vtkRenderingOpenGL2-9.0.lib
vtkRenderingSceneGraph-9.0.lib
vtkRenderingUI-9.0.lib
vtkRenderingVolume-9.0.lib
vtkRenderingVolumeOpenGL2-9.0.lib
vtkRenderingVtkJS-9.0.lib
vtksqlite-9.0.lib
vtksys-9.0.lib
vtkTestingRendering-9.0.lib
vtktheora-9.0.lib
vtktiff-9.0.lib
vtkverdict-9.0.lib
vtkViewsContext2D-9.0.lib
vtkViewsCore-9.0.lib
vtkViewsInfovis-9.0.lib
vtkWrappingTools-9.0.lib
vtkzlib-9.0.lib