一、相關環境
系統： windows10
CMake: 3.21.4
Visual Studio: 2019
Open3D: 0.12.0
二、源碼編譯
2.1 下載源碼
git clone --recursive https://github.com/intel-isl/Open3D
如果網上太慢，可以采用加速接口
git clone https://github.com.cnpmjs.org/isl-org/Open3D.git
# git clone https://hub.fastgit.org/isl-org/Open3D.git
# git clone https://github.91chi.fun//https://github.com/isl-org/Open3D.git
2.2 切換到指定分支
下載完后進入Open3D目錄，用git tag查看分支，然后切換到指定分支，這里切換至0.12.0
git checkout v0.12.0
2.3 更新第三方庫
- 修改
Open3D目錄下.gitmodules文件中地址，換成加速地址，如
[submodule "3rdparty/pybind11"]
path = 3rdparty/pybind11
url = https://github.com/pybind/pybind11.git
替換為
[submodule "3rdparty/pybind11"]
path = 3rdparty/pybind11
url = https://github.com.cnpmjs.org/pybind/pybind11.git
- 執行以下命令
git submodule sync
git submodule update --init --recursive
2.4 編譯
- 利用CMake，選擇資源路徑和編譯路徑，依次點擊
Configure和Generate.
- 在生成目錄用
Visual Studio 2019打開Open3D.sln工程
在CMakePredefinedTargets目錄下選擇ALL_BUILD作為啟動項，然后選擇Release,點擊重新生成進行編譯。
注意- 編譯的時候選擇用管理員身份打開VS2019，因為生成目錄默認在
C:/Program Files (x86)目錄下。如果不用管理員身份打開，在CMake Configure時可以修改安裝路徑到非系統盤 - 另外我編譯過程中出現下載
filament庫失敗的情況，我是先下載~\Open3D\3rdparty\filament\filament_download.cmake文件中指定的庫文件，然后存放至~\Open3D\3rdparty_downloads\filament,並將filament_download.cmake文件中的鏈接修改為本地保存路徑。
- 編譯的時候選擇用管理員身份打開VS2019，因為生成目錄默認在
三、安裝
在CMakePredefinedTargets目錄下選擇INSTALL作為啟動項，點擊生成。
自動會保存在C:/Program Files (x86)目錄下。如果安裝成功，該目錄下會有bin,CMake,include,lib四個文件夾。
四、測試
參考C++ interface先下載TestVisualizer.cpp和CMakeLists.txt
存放在自定義目錄下，然后利用CMake進行Configure和Generate。
我在測試過程中出現了“RuntimeLibrary”的不匹配項: 值“MT_StaticRelease”不匹配值“MD_DynamicRele的問題。MT（多線程靜態的版本）和MD（多線程動態的版本）以及MTd, MDd的區別可以參考VS 運行庫MT、MD的區別。
解決辦法如下：
選擇工程，右擊屬性，依次點擊C/C++ ==> 代碼生成 ==> 運行庫，選擇MT。
或者直接在CMakeLists.txt文件中添加
set(CMAKE_CXX_FLAGS_RELEASE "/MT")
set(CMAKE_CXX_FLAGS_DEBUG "/MTd")
編譯完成后運行以下命令得到結果：
.\TestVisualizer.exe pointcloud "D:/test.pcd"
- TestVisualizer.cpp
點擊展開：TestVisualizer.cpp
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#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[]) {
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
點擊展開：CMakeLists.txt
cmake_minimum_required(VERSION 3.10)
project(TestVisualizer)
set(CMAKE_CXX_STANDARD 11)
set(OPEN3D_ROOT "C:/Program Files (x86)/Open3D")
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} ${Open3D_EXE_LINKER_FLAGS}")
set(CMAKE_CXX_FLAGS_RELEASE "/MT")
set(CMAKE_CXX_FLAGS_DEBUG "/MTd")
# # 方式一
#link_directories(${OPEN3D_ROOT}/lib)
#add_executable(${PROJECT_NAME} TestVisualizer.cpp)
#target_link_libraries(${PROJECT_NAME} Open3D::Open3D) # release
#target_include_directories(${PROJECT_NAME} PUBLIC ${OPEN3D_ROOT}/include)
# # 方式二
find_package(Open3D HINTS ${OPEN3D_ROOT}/CMake)
# Set OS-specific things here
if(WIN32)
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()
else ()
message(SEND_ERROR "Open3D not found")
endif ()