Open3D：Win10 + VS2017配置Open3D（C++、python）

20200825：今天七夕，呱呱呱

Open3D是一个支持三维数据处理的开源库，支持C ++和Python。后端经过高度优化，并设置为并行化。MIT协议。

官网：http://www.open3d.org/

GitHub: https://github.com/intel-isl/Open3D

python版本安装方便：pip install open3d  或者

pip install -i https://pypi.tuna.tsinghua.edu.cn/simple open3d

下面介绍C++版本的配置（相比于一行python代码，C++真是牛逼）

一、下载源码

GitHub地址：https://github.com/intel-isl/Open3D

1.1 克隆源码【笔者的源码路径为 D:/Open3D/Open3D】

1.2 切换版本【笔者用过的版本为 v0.8.0 和 v0.10.0】

1.3 更新子模块【用于获取第三方库！很重要！】

注意：v0.8.0更新的时候没有报错；但是v0.10.0更新的时候失败了【抱着试试的心态继续进行，后续没出错，感觉是我 git 用的还不熟练的原因吧】

结果如下：

二、CMake编译

2.1 设置路径

【source code: D:/Open3D/Open3D； build binaries: D:/Open3D】

【笔者设置 CMAKE/CMAKE_INSTALL_PREFIX 的路径为 D:/Open3D/install】

2.2 generator选择 Visual Studio 15 2017【官方建议 VS2019及以上】，optional platform for generator 选择x64

2.3 Configure -> Configure done

2.4 Generate -> Generating done

三、生成解决方案

3.1 打开

VS2017打开 D:/Open3D/Open3D.sln【官方建议 VS2019及以上】Release-x64

3.2 将CMakePredefinedTargets/ALL_BUILD设为启动项，右击生成

【v0.8.0版本报错了：...\VS2017\IDE\Common7\IDE\VC\VCTargets\Microsoft.CppCommon.targets(209,5): error MSB6006: “cmd.exe”已退出，代码为 9009。后续没报错，所以貌似好像应该可能大概 没啥影响吧】

【v0.10.0版本没有报错：成功61个】

3.3 打包包

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

四、测试

官方参考：http://www.open3d.org/docs/release/cpp_project.html#create-cplusplus-project【very nice】

4.1 下载测试文件

下载TestVisualizer.cpp和 CMakeLists.txt到 F:/testVisualizer【路径随便改，高兴就行】

4.2 修改TestVisualizer.cpp，完整代码如下：

#include 
#include 
#include 

#include 

// 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";


    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();
        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();
        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;
}

CMakeList.txt 如下：

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 ()

4.3 按照官方参考进行 CMake 编译【笔者的Open3D_DIR路径为 D:/Open3D/install/CMake 】

4.4 Configure -> Configure done

4.5 Generate -> Generating done

 五、运行

VS2017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

六、编译好的Open3D库和测试代码地址

v0.8.0: Open3D_C++_v0.8.0_VS2017_库和测试代码、数据

v0.10.0: Open3D_C++_v0.10.0_VS2017 库和测试代码、数据

链接：https://pan.baidu.com/s/1BKTcEbmI9vhmKTjJv-gBlw
提取码：fh8l