文章目录
下载
Tortoisegit
cmake
open3d
open3d csdn下载
open3d官网
open3d github下载
安装
Tortoisegit安装和配置
【TortoiseGit】TortoiseGit安装和配置详细说明
cmake
- 运行cmake安装包，以下两张图自己设计即可，其他默认安装
open3d
克隆源码
- 克隆open3d代码，地址：https://github.com/intel-isl/Open3D，目录自己创建即可，如果clone和更新子模块失败可能是网络原因，多试几次
- 切换版本，我这里采用的是v0.10.0，和vs2019适应
- 更新子模块，因为3rdparty是第三方库，有很多文件夹是空的，需要更新
CMake编译
- source code: D:/Open3D/Open3D； build binaries: D:/Open3D
- 选择vs2019
- 点击configure，然后设置 CMAKE/CMAKE_INSTALL_PREFIX ，这里设置的是D:/Open3D/install（可以自己设计记住就可以）
- 然后再点击configure，直到界面没有红色为止，然后点击generate，如果都没问题，点击open project即可（最好是用管理员方式运行）
生成解决方案
VS2019打开 D:/Open3D/Open3D.sln，我这里是release x64，debug改成debug即可
- 将CMakePredefinedTargets/ALL_BUILD设为启动项目，然后点击生成
- 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
编译测试文件
测试
测试代码
TestVisualizer.cpp文件
需要修改点云路径
#include <iostream>
#include <memory>
#include <thread>
#include <Open3D/Open3D.h>
// 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"; //填写自己的点云路径
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;
}
CMakeLists.txt文件
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()
else ()
message(SEND_ERROR "Open3D not found")
endif ()
编译
- Open3D_DIR路径为 D:/Open3D/install/CMake(填写自己安装的路径)
- 点击configure，然后点击generate
运行
tip：如果出现以下问题，使用管理员方式运行vs即可解决
- VS2019打开 F:\testVisualizer\build\TestVisualizer.sln，Release-x64
- 将ALL_BUILD设置为启动项，右击生成。
- 将TestVisualizer设置为启动项，运行结果如下
在自己的项目中配置open3d
- 右键选择属性，点击c/c++，编辑附加包含目录，输入以下路径，填写你自己的路径
- 点击链接器，选择常规，编辑附加库目录，输入如下路径，填写自己的路径
- 点击链接器，选择输入，编辑附加依赖项，输入如下文件名
文件名如下
Open3D.lib
opengl32.lib
glu32.lib
glew.lib
glfw3.lib
turbojpeg-static.lib
jsoncpp.lib
png.lib
zlib.lib
tinyfiledialogs.lib
tinyobjloader.lib
qhullcpp.lib
qhullstatic_r.lib
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
comdlg32.lib
advapi32.lib
参考文章
Open3D：读写点云与可视化（C++）
Open3D：Win10 + VS2017配置Open3D（C++、python）
MSB3073 命令setlocal问题的解决
【TortoiseGit】TortoiseGit安装和配置详细说明
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