cpp 编译dll_PCL 1.11.1 Visual studio 2019 CUDA编译

最新推荐文章于 2022-06-16 06:19:53 发布

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最新推荐文章于 2022-06-16 06:19:53 发布

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文章标签： cpp 编译dll

全网最新最简单的vs2019 cuda编译操作指南（笑

我的配置：

Cuda 11.0

Visual studio 2019 community

PCL 1.11.1

flann 1.9.1

需要严格按照这个配置来，因为CUDA windows上面的有BUG，CUDA10.1 和10.2均无法完美编译

同时这个编译不带VTK的（我不用显示）

首先编译flann

可以不选cuda

编译生成flann_s_cpp.lib

过后下载PCL all in one( 利用里面的eigen和boost，有需要的话vtk也可以用）

需要手动配置一下boost,flann和eigen, boost添加进环境变量，flann和eigen配置好路径

大概长这样

然后准备配置CUDA，勾选CUDA和GPU，选择一下架构，我的卡是10系列的，所以只选6.0 6.1

然后生成即可

最后编译的时候，eigen的half.h会出错

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

需要改成：

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
 }

编译即完成了，编译出的dll如下

OpenNI2.dll
OpenNI2.jni.dll
pcl_common.dll
pcl_commond.dll
pcl_cuda_features.dll
pcl_cuda_featuresd.dll
pcl_cuda_sample_consensus.dll
pcl_cuda_sample_consensusd.dll
pcl_cuda_segmentation.dll
pcl_cuda_segmentationd.dll
pcl_features.dll
pcl_featuresd.dll
pcl_filters.dll
pcl_filtersd.dll
pcl_gpu_containers.dll
pcl_gpu_containersd.dll
pcl_gpu_features.dll
pcl_gpu_featuresd.dll
pcl_gpu_octree.dll
pcl_gpu_octreed.dll
pcl_gpu_segmentation.dll
pcl_gpu_segmentationd.dll
pcl_gpu_utils.dll
pcl_gpu_utilsd.dll
pcl_io.dll
pcl_iod.dll
pcl_io_ply.dll
pcl_io_plyd.dll
pcl_kdtree.dll
pcl_kdtreed.dll
pcl_keypoints.dll
pcl_keypointsd.dll
pcl_ml.dll
pcl_mld.dll
pcl_octree.dll
pcl_octreed.dll
pcl_peopled.dll
pcl_recognition.dll
pcl_recognitiond.dll
pcl_registration.dll
pcl_registrationd.dll
pcl_sample_consensus.dll
pcl_sample_consensusd.dll
pcl_search.dll
pcl_searchd.dll
pcl_segmentation.dll
pcl_segmentationd.dll
pcl_stereo.dll
pcl_stereod.dll
pcl_surface.dll
pcl_surfaced.dll
pcl_tracking.dll
pcl_trackingd.dll