VS编译PCL1.8.0

参考1
参考2
提醒：
1、编译过程请联网！VS在编译VTK时需要自动下载一些文件，否则会编译失败！
2、第三方库最好都安装在默认目录。（也就是在后面cmake中设置CMAKE_INSTALL_PREFIX的值时，用默认目录）

1、准备

工具：
vs2012
cmake3.5.0

第三方库：
boost_1.60.0
eigen3.2.8
qhull_2015.2
VTK_7.0.0
flann_1.8.4
另外还可以根据需要下载安装microsoft mpi，在编译boost时，编译该功能。。。不需要就算啦。。。

2、开始

2.1编译boost

若需要mpi则首先下载安装它，然后到boost_1_60_0\tools\build\src\tools\mpi.jam中修改下面几行：
249-251 line

local microsoft_mpi_sdk_path = "C:\\Program Files (x86)\\Microsoft SDKs\\MPI" ;
local microsoft_mpi_path = "C:\\Program Files\\Microsoft MPI" ;
if [ GLOB $(microsoft_mpi_sdk_path)\\Include : mpi.h ]

260-262 line

options = <include>$(microsoft_mpi_sdk_path)/Include
          <address-model>64:<library-path>$(microsoft_mpi_sdk_path)/Lib/x64
          <library-path>$(microsoft_mpi_sdk_path)/Lib/x86

268 line

.mpirun = "\"$(microsoft_mpi_path)\\Bin\\mpiexec.exe"\" ;

然后运行VS自带的cmd(“VS2012 x86 本机工具命令提示”)，进入boost文件夹，运行bootstrap.bat,运行结束后会生成project-config.jam，打开并在第四行加上：using mpi ;（注意“；”前面有一个空格！） 接下来还是用cmd进入boost文件夹，运行如下命令编译boost：
Win32：
b2.exe toolset=msvc-11.0 address-model=32 –build-dir=build\x86 install –prefix=”C:\Program Files (x86)\Boost” -j8
X64:
b2.exe toolset=msvc-11.0 address-model=64 –build-dir=build\x64 install –prefix=”C:\Program Files\Boost” -j8
其中msvc-12.0代表vs2013，如果是11.0是vs2012，14.0是vs2015。后面的C:\Program Files\Boost是boost的安装文件夹。
然后等着就好了，时间有点久，耐心等。完成后在环境变量中建立BOOST_ROOT变量，值为boost文件夹安装地址C:\Program Files\Boost.

2.2编译eigen

使用cmake，分别设置eigen的source和build路径（source路径其实就是含有CMakeLists.txt的文件夹，其实就是source的根目录，我的路径是E:\pcl\Eigen），如build不存在，点击Configure会提示新建build文件夹，选择vs11-2012编译器，这里注意Configure时有CMAKE_INSTALL_PREFIX这个选项，默认为C:\Program Files\Eigen．这里的路径即为该软件最后的安装路径(也是环境变量中要设置的EIGEN_ROOT的路径，可设置为你想要的其它路径，后边的FLANN，QHULL，VTK也是一样道理)．然后Generate。
之后**以管理员身份运行**VS2012（否则install时会失败），打开bulid文件夹下的eigen.sln工程，待加加完文件后，生成ALL_BUILD(Debug和 Release均要生成)，完成后生成INSTALL(Debug and Release)。可以看到eigen安装路径中出现include文件夹。最后在环境变量中建立EIGEN_ROOT变量，值为eigen的安装路径。

2.3编译qhull

使用cmake，分别设置qhull的source和build路径，如build不存在，点击Configure会提示新建build文件夹，选择vs11-2012-win64编译器．注意根据需要修改CMAKE_INSTALL_PREFIX，然后添加一个entry：

Name: CMAKE_DEBUG_POSTFIX

Type: STRING

Value: -d

修改完后再次点Configure，然后Generate。以管理员身份运行VS2012并打开qhull.sln工程文件，待加载完文件后，完成后生成ALL_BUILD（debug和release），然后生成INSTALL(Debugand Release)。完成后可以看到qhull安装路径中出现include和lib文件夹。最后在环境变量中建立QHULL_ROOT变量，值为qhull安装地址。

2.4编译VTK

使用cmake，分别设置VTK的source和build路径，如build不存在，点击Configure会提示新建build文件夹，选择vs11-2012-win64编译器．注意根据需要修改CMAKE_INSTALL_PREFIX选项，然后添加一个entry：

Name: CMAKE_DEBUG_POSTFIX

Type: STRING

Value: -gd

修改完后再次点Configure，然后Generate。以管理员身份运行VS2012并打开VTK.sln工程文件，待加载完文件后，生成ALL_BUILD（debug和release）（时间有点久，很久，耐心等待），完成后生成install（debug和release）。完成后可以看到VTK文件夹中出现include和lib文件夹。最后在环境变量中建立VTK_ROOT，为VTK安装路径．

2.5编译flann

使用cmake，分别设置Flann的source和build路径(如C:\flann,C:\flann\build)，选择vs12-2013编译器．注意根据需要修改CMAKE_INSTALL_PREFIX，然后添加一个entry：

Name: CMAKE_DEBUG_POSTFIX

Type: STRING

Value: -gd

修改完后再次点Configure，然后Generate。在C:\flann\src\cpp\flann\util(源码)中找到serialization.h文件 在92行BASIC_TYPE_SERIALIZER(bool)之后加入以下代码：

#ifdef _MSC_VER

BASIC_TYPE_SERIALIZER( unsigned __int64 );//注意此处__int64是两个下划线连一起

#endif

修改完后以管理员身份运行VS2012并打开flann.sln工程文件，待加载完文件后，（debug和release）生成all_build，完成后生成install(Debugand Release)。完成后可以看到flann安装路径下出现include和lib文件夹。最后在环境变量中建立FLANN_ROOT变量，值为flann安装路径。
(如果你按照上面的方法编译flann成功了，恭喜你。如果没成功，不要紧，直接下载个别人编译好的安装，这里有个版本比较老的)

2.6最后配置PCL

使用cmake选择source和build文件夹，such as:
Where is the source code: C:\PCL-master\source

Where is build the binaries: C:\PCL-master\build

点击Configure，选择vs11-2012-win64编译器，正常情况下不会出现什么问题，注意根据需要修改CMAKE_INSTALL_PREFIX(我的路径为C:\ProgramFiles\PCL)，再次点击Configure，然后generate生成．以管理员身份运行VS2012并打开PCL.sln，生成ALL_BUILD(Debug和Release模式，各自得半小时左右).
随后生成INSTALL(Debug and Release)将PCL-1.8成功安装。

（在别人的博客中看到：
修改build文件夹中cmake_install.cmake修改第46行：
file(INSTALL DESTINATION”${CMAKE_INSTALL_PREFIX}/3rdParty/Boost” TYPE DIRECTORY FILES “C:/ProgramFiles/Boost/” REGEX “/[^/]*\/uninstall\.exe$” EXCLUDE) 其中C:/Program Files/Boost/为boost所在文件夹。
貌似可以讲库统统拷贝到pcl/3rdParty/Boost中。。。但是自己设置后不知为何，没鸟用。。。库还是在PCL源码目录下。。。。不管了，反正能用
）

最后在环境变量中建立PCL_ROOT变量，值为PCL安装路径。

下面是我测试时使用的属性表（并不完整，调试时找不到哪个头文件就加哪个吧。。。算作为参考）

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