[笔记]配置PCL点云库的CMakeLists.txt

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已于 2022-11-20 11:52:30 修改 · 1.6k 阅读

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于 2022-11-20 00:06:07 首次发布

本文介绍了一个基于PCL库的点云处理示例，展示了如何将Boost库与PCL集成以实现高效的点云数据处理。示例代码中包含了点云的创建、Octree搜索算法的应用以及点云的可视化。

修改之后的3rdparty目录结构：

D:\VS_workspace\PCL_cmakeProj>tree.exe -L 3
.
|-- 3rdparty
|   |-- BOOST-1.78
|   |   |-- bin
|   |   |-- include
|   |   `-- lib
|   |-- Boost
|   |   |-- include
|   |   `-- lib
|   |-- Eigen
|   |   `-- eigen3
|   |-- FLANN
|   |   |-- bin
|   |   |-- include
|   |   `-- lib
|   |-- OpenNI2
|   |   |-- Redist
|   |   |-- include
|   |   `-- lib
|   |-- PCL-1.12.1
|   |   |-- bin
|   |   |-- include
|   |   `-- lib
|   |-- Qhull
|   |   |-- bin
|   |   |-- include
|   |   |-- lib
|   |   `-- share
|   `-- VTK
|       |-- bin
|       |-- include
|       `-- lib
|-- CMakeLists.txt
|-- CMakeSettings.json
|-- PCL_Demo
|   |-- inc
|   |-- src
|   `-- unit_test
|       `-- main.cpp
|-- README.txt
`-- out
    `-- build
        `-- x64-Release

38 directories, 4 files

其中BOOST-1.78是新的，Boost是PCL自带的，在CMakeLists.txt中注释掉了。CMakeLists.txt:

# CMakeList.txt: 顶层 CMake 项目文件，在此处执行全局配置
# 并包含子项目。
#
cmake_minimum_required (VERSION 3.10)

project ("PCL_CMAKE_PROJECT" LANGUAGES CXX CUDA)

add_definitions(-DBOOST_USE_WINDOWS_H -DBOOST_ALL_NO_LIB  -DNOMINMAX -D_CRT_SECURE_NO_DEPRECATE)

SET(3RDPARTY_ROOT ./3rdparty)
SET(PCL_Demo_ROOT ./PCL_Demo)

SET(INC_DIR 
	${
   
   3RDPARTY_ROOT}/Boost/include/boost-1_78  # PCL自带的Boost
	#${
   
   3RDPARTY_ROOT}/BOOST-1.78/include  # 从下载的exe文件中提取出的BOOST库
	${
   
   3RDPARTY_ROOT}/Eigen/eigen3
	${
   
   3RDPARTY_ROOT}/FLANN/include
	${
   
   3RDPARTY_ROOT}/OpenNI2/include
	${
   
   3RDPARTY_ROOT}/PCL-1.12.1/include/pcl-1.12
	${
   
   3RDPARTY_ROOT}/Qhull/include
	${
   
   3RDPARTY_ROOT}/VTK/include/vtk-9.1
)

SET(LIB_DIR
	#${
   
   3RDPARTY_ROOT}/Boost/lib  # PCL自带的Boost，使用静态库链接，不需要${
   
   3RDPARTY_ROOT}/Boost/lib
	#${
   
   3RDPARTY_ROOT}/BOOST-1.78/lib  # 从下载的exe文件中提取出的BOOST库
	${
   
   3RDPARTY_ROOT}/FLANN/lib
	${
   
   3RDPARTY_ROOT}/OpenNI2/lib
	${
   
   3RDPARTY_ROOT}/PCL-1.12.1/lib
	${
   
   3RDPARTY_ROOT}/Qhull/lib
	${
   
   3RDPARTY_ROOT}/VTK/lib
)

# 设置(使用)boost静态库
SET(BOOST_STATIC_LIBS
	libboost_atomic-vc142-mt-x64-1_78.lib
	libboost_bzip2-vc142-mt