Instantly share code, notes, and snippets.

@UnaNancyOwen /PCL.md
Last active Nov 26, 2018

Embed
What would you like to do?
Download ZIP
Building PCL with Visual Studio
Raw
PCL.md

Building PCL 1.7.2 with Visual Studio

Download

  1. PCLをGitからクローンする。(C:\PCL-1.7.2)
    https://github.com/PointCloudLibrary/pcl/tree/pcl-1.7.2

3rdParty

  1. 3rdPartyのライブラリをビルド、インストールする。

  2. 3rdPartyのライブラリの環境変数を設定する。

    • BOOST_ROOT C:\Program Files\Boost
    • EIGEN_ROOT C:\Program Files\Eigen
    • FLANN_ROOT C:\Program Files\flann
    • QHULL_ROOT C:\Program Files\qfull
    • VTK_DIR C:\Program Files\VTK

CMake

  1. CMake 3.0.2より新しいバージョンを利用する場合、以下を修正する。 https://github.com/PointCloudLibrary/pcl/commit/f9c0d73a0536e85c06432732d19e38349a785ad4

  2. ソースコードの入力先とソリューションファイルの出力先を指定する。

    • Where is the source code: C:\PCL-master
    • Where is build the binaries: C:\PCL-master\build

  3. [Configure]を押してターゲットとなるVisual Studioを選択する。

  4. 各種設定を行う。
    (GroupedとAdvancedにチェックを入れるとわかりやすい。)
    Ungrouped Entries

    • EIGEN_INCLUDE_DIR C:\Program Files\Eigen\include\eigen3
    • VTK_DIR C:\Program Files\VTK\lib\cmake\vtk-6.1

    BUILD

    • BUILD_OPENNI ☐(uncheck)
    • BUILD_OPENNI2 ☐(uncheck)
    • BUILD_all_in_one_installer ☐(uncheck)
    • BUILD_apps ☐(uncheck)
    • BUILD_common ☑(check)
    • BUILD_example ☐(uncheck)
    • BUILD_features ☑(check)
    • BUILD_filters ☑(check)
    • BUILD_geometry ☑(check)
    • BUILD_global_tests ☐(uncheck)
    • BUILD_io ☑(check)
    • BUILD_kdtree ☑(check)
    • BUILD_keypoints ☑(check)
    • BUILD_outofcore ☑(check)
    • BUILD_people ☑(check)
    • BUILD_recognition ☑(check)
    • BUILD_registration ☑(check)
    • BUILD_sample_consensus ☑(check)
    • BUILD_search ☑(check)
    • BUILD_segmentation ☑(check)
    • BUILD_surface ☑(check)
    • BUILD_surface_on_nurbs ☑(check)
    • BUILD_tools ☑(check)
    • BUILD_tracking ☑(check)
    • BUILD_visualization ☑(check)

    Boost

    • Boost_DATE_TIME_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_date_time-vc120-mt-gd-1_56.lib
    • Boost_DATE_TIME_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_date_time-vc120-mt-1_56.lib
    • Boost_FILESYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_filesystem-vc120-mt-gd-1_56.lib
    • Boost_FILESYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_filesystem-vc120-mt-1_56.lib
    • Boost_INCLUDE_DIR C:\Program Files\Boost\include\boost-1_56
    • Boost_IOSTREAMS_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_iostreams-vc120-mt-gd-1_56.lib
    • Boost_IOSTREAMS_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_iostreams-vc120-mt-1_56.lib
    • Boost_MPI_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_mpi-vc120-mt-gd-1_56.lib
    • Boost_MPI_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_mpi-vc120-mt-1_56.lib
    • Boost_SERIALIZATION_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_serialization-vc120-mt-gd-1_56.lib
    • Boost_SERIALIZATION_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_serialization-vc120-mt-1_56.lib
    • Boost_SYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_system-vc120-mt-gd-1_56.lib
    • Boost_SYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_system-vc120-mt-1_56.lib
    • Boost_THREAD_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_thread-vc120-mt-gd-1_56.lib
    • Boost_THREAD_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_thread-vc120-mt-1_56.lib

    CMAKE

    • CMAKE_CONFIGURATION_TYPES Debug;Release
    • CMAKE_INSTALL_PREFIX C:\Program Files\PCL

    FLANN

    • FLANN_INCLUDE_DIR C:\Program Files\flann\include
    • FLANN_LIBRARY C:\Program Files\flann\lib\flann_cpp_s.lib
    • FLANN_LIBRARY_DEBUG C:\Program Files\flann\lib\flann_cpp_s-gd.lib

    QHULL

    • QHULL_INCLUDE_DIR C:\Program Files\qhull\include
    • QHULL_LIBRARY C:\Program Files\qhull\lib\qhullstatic.lib
    • QHULL_LIBRARY_DEBUG C:\Program Files\qhull\lib\qhullstatic_d.lib

    WITH

    • WITH_DOCS ☐(uncheck)
    • WITH_FZAPI ☐(uncheck)
    • WITH_LIBUSB ☐(uncheck)
    • WITH_OPENNI ☐(uncheck)
    • WITH_OPENNI2 ☐(uncheck)
    • WITH_PCAP ☐(uncheck)
    • WITH_PNG ☐(uncheck)
    • WITH_PXCAPI ☐(uncheck)
    • WITH_QHULL ☑(check)
    • WITH_QT ☐(uncheck)
    • WITH_VTK ☑(check)

  5. 設定内容を確認する。

    • Boost version: 1.56.0
      Found the following Boost libraries:
      system
      filesystem
      thread
      date_time
      iostreams
      chrono
    • Eigen found (include: C:/Program Files/Eigen/include/eigen3, version: 3.2.2)
    • FLANN found (include: C:/Program Files/flann/include, lib: optimized;C:/Program Files/flann/lib/flann_cpp_s.lib;debug;C:/Program Files/flann/lib/flann_cpp_s-gd.lib)
    • QHULL found (include: C:/Program Files/qhull/include, lib: optimized;C:/Program Files/qhull/lib/qhullstatic.lib;debug;C:/Program Files/qhull/lib/qhullstatic_d.lib)
    • VTK_MAJOR_VERSION 6
      VTK found (include: C:/Program Files/VTK/include/vtk-6.1, lib: vtkalglib;vtkChartsCore;vtkCommonColor;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkInfovisCore;vtkFiltersExtraction;vtkCommonExecutionModel;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;vtkfreetype;vtkzlib;vtkftgl;vtkRenderingOpenGL;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkIOCore;vtkmetaio;vtkjpeg;vtkpng;vtktiff;vtkDomainsChemistry;vtkIOXML;vtkIOGeometry;vtkjsoncpp;vtkIOXMLParser;vtkexpat;vtkexoIIc;vtkNetCDF;vtkNetCDF_cxx;vtkhdf5_hl;vtkhdf5;vtkFiltersAMR;vtkParallelCore;vtkIOLegacy;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelImaging;vtkFiltersProgrammable;vtkFiltersSelection;vtkFiltersSMP;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGeovisCore;vtkInfovisLayout;vtkInteractionStyle;vtkInteractionWidgets;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;vtkViewsCore;vtkproj4;vtkgl2ps;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkIOAMR;vtkIOEnSight;vtkIOExodus;vtkIOExport;vtkRenderingGL2PS;vtkRenderingLabel;vtkIOImport;vtkIOInfovis;vtklibxml2;vtkIOLSDyna;vtkIOMINC;vtkIOMovie;vtkoggtheora;vtkIONetCDF;vtkIOParallel;vtkIOPLY;vtkIOSQL;vtksqlite;vtkIOVideo;vtkRenderingFreeTypeOpenGL;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingVolumeAMR;vtkRenderingVolumeOpenGL;vtkViewsContext2D;vtkViewsGeovis;vtkViewsInfovis)

  6. [Generate]を押してソリューションファイルを出力する。

Build

  1. Visual Studioを管理者権限で起動してPCLのソリューションファイル(C:\PCL-master\build\PCL.sln)を開く。
    (Visual Studioを管理者権限で起動しないとINSTALLが失敗する。)

  2. PCLをビルドする。(ALL_BUILD)

    1. ソリューションの構成(Debug, Release)を設定する。
    2. ソリューションエクスプローラーからALL_BUILDプロジェクトを選択する。
    3. [ビルド]>[ソリューションのビルド]を押してPCLをビルドする。

  3. PCLをインストールする。(INSTALL)

    1. インストール設定ファイルを修正する。

      • PCL-master\build\cmake_install.cmake
        46 line

        file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/3rdParty/Boost" TYPE DIRECTORY FILES "C:/Program Files/Boost/" REGEX "/[^/]*\\/uninstall\\.exe$" EXCLUDE)

        58 line

        file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/3rdParty/VTK" TYPE DIRECTORY FILES "C:/Program Files/VTK/" REGEX "/[^/]*\\/uninstall\\.exe$" EXCLUDE)

    2. ソリューションエクスプローラーからINSTALLプロジェクトを選択する。

    3. [ビルド]>[プロジェクトのみ]>[INSTALLのみをビルド]を押してPCLをインストールする。
      CMAKE_INSTALL_PREFIXで指定した出力先へ必要なファイルがコピーされる。

Environment Variable

  1. 環境変数PCL_ROOTを作成してPCLのパス(C:\Program Files\PCL)を設定する。

  2. 環境変数PathにPCLと3rdPartyのパスを追加する。

    • ;%PCL_ROOT%\bin
    • ;%PCL_ROOT%\3rdParty\FLANN\bin
    • ;%PCL_ROOT%\3rdParty\VTK\bin
Raw
PCL1.8.0.md

Building PCL 1.8.0 with Visual Studio

Download

  1. PCLをGitからクローンする。(C:\PCL-1.8.0)
    https://github.com/PointCloudLibrary/pcl/tree/pcl-1.8.0

  2. 以下の変更を適用する。(Pull Request #1635)
    Fix compile error C2440 of pcl_visualization on MSVC #1635 | Point Cloud Library

3rdParty

  1. 3rdPartyのライブラリをビルド、インストールする。

  2. 3rdPartyのライブラリの環境変数を設定する。

    • BOOST_ROOT C:\Program Files\Boost
    • EIGEN_ROOT C:\Program Files\Eigen
    • FLANN_ROOT C:\Program Files\flann
    • QHULL_ROOT C:\Program Files\qfull
    • VTK_DIR C:\Program Files\VTK

CMake

  1. ソースコードの入力先とソリューションファイルの出力先を指定する。

    • Where is the source code: C:\PCL-1.8.0
    • Where is build the binaries: C:\PCL-1.8.0\build

  2. [Configure]を押してターゲットとなるVisual Studioを選択する。

  3. 各種設定を行う。
    (GroupedとAdvancedにチェックを入れるとわかりやすい。)
    Ungrouped Entries

    • EIGEN_INCLUDE_DIR C:\Program Files\Eigen\include\eigen3
    • VTK_DIR C:\Program Files\VTK\lib\cmake\vtk-7.0

    BUILD

    • BUILD_2d ☑(check)
    • BUILD_CUDA ☐(uncheck)
    • BUILD_GPU ☐(uncheck)
    • BUILD_all_in_one_installer ☑(check)*1
    • BUILD_apps ☐(uncheck)
    • BUILD_common ☑(check)
    • BUILD_example ☐(uncheck)
    • BUILD_features ☑(check)
    • BUILD_filters ☑(check)
    • BUILD_geometry ☑(check)
    • BUILD_global_tests ☐(uncheck)
    • BUILD_io ☑(check)
    • BUILD_kdtree ☑(check)
    • BUILD_keypoints ☑(check)
    • BUILD_octree ☑(check)
    • BUILD_outofcore ☑(check)
    • BUILD_people ☑(check)
    • BUILD_recognition ☑(check)
    • BUILD_registration ☑(check)
    • BUILD_sample_consensus ☑(check)
    • BUILD_search ☑(check)
    • BUILD_segmentation ☑(check)
    • BUILD_simulation ☐(uncheck)
    • BUILD_stereo ☑(check)
    • BUILD_surface ☑(check)
    • BUILD_surface_on_nurbs ☑(check)
    • BUILD_tools ☑(check)*2
    • BUILD_tracking ☑(check)
    • BUILD_visualization ☑(check)

    *1 INSTALLプロジェクトをビルドしたとき<CMAKE_INSTALL_PREFIX>(C:\Program Files\PCL)に指定したディレクトリにPCLと3rdPartyがコピーされる。
    *2 ビルドに時間がかかるため、各種ツール類(bin\pcl_*.exe)が必要でなければチェックを外す。

    Boost

    • Boost_DATE_TIME_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_date_time-vc140-mt-gd-1_61.lib
    • Boost_DATE_TIME_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_date_time-vc140-mt-1_61.lib
    • Boost_FILESYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_filesystem-vc140-mt-gd-1_61.lib
    • Boost_FILESYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_filesystem-vc140-mt-1_61.lib
    • Boost_INCLUDE_DIR C:\Program Files\Boost\include\boost-1_61
    • Boost_IOSTREAMS_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_iostreams-vc140-mt-gd-1_61.lib
    • Boost_IOSTREAMS_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_iostreams-vc140-mt-1_61.lib
    • Boost_LIBRARY_DIR_DEBUG C:\Program Files\Boost\lib
    • Boost_LIBRARY_DIR_RELEASE C:\Program Files\Boost\lib
    • Boost_MPI_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_mpi-vc140-mt-gd-1_61.lib
    • Boost_MPI_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_mpi-vc140-mt-1_61.lib
    • Boost_SERIALIZATION_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_serialization-vc140-mt-gd-1_61.lib
    • Boost_SERIALIZATION_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_serialization-vc140-mt-1_61.lib
    • Boost_SYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_system-vc140-mt-gd-1_61.lib
    • Boost_SYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_system-vc140-mt-1_61.lib
    • Boost_THREAD_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_thread-vc140-mt-gd-1_61.lib
    • Boost_THREAD_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_thread-vc140-mt-1_61.lib

    CMAKE

    • CMAKE_CONFIGURATION_TYPES Debug;Release
    • CMAKE_INSTALL_PREFIX C:\Program Files\PCL

    FLANN

    • FLANN_INCLUDE_DIR C:\Program Files\flann\include
    • FLANN_LIBRARY C:\Program Files\flann\lib\flann_cpp_s.lib
    • FLANN_LIBRARY_DEBUG C:\Program Files\flann\lib\flann_cpp_s-gd.lib

    OPENNI2

    • OPENNI2_INCLUDE_DIRS C:\Program Files\OpenNI2\Include
    • OPENNI2_LIBRARY C:\Program Files\OpenNI2\Lib\OpenNI2

    QHULL

    • QHULL_INCLUDE_DIR C:\Program Files\qhull\include
    • QHULL_LIBRARY C:\Program Files\qhull\lib\qhullstatic.lib
    • QHULL_LIBRARY_DEBUG C:\Program Files\qhull\lib\qhullstatic_d.lib

    WITH

    • WITH_CUDA ☐(uncheck)
    • WITH_DAVIDSDK ☐(uncheck)
    • WITH_DOCS ☐(uncheck)
    • WITH_DSSDK ☐(uncheck)
    • WITH_ENSENSO ☐(uncheck)
    • WITH_FZAPI ☐(uncheck)
    • WITH_LIBUSB ☐(uncheck)
    • WITH_OPENGL ☑(check)
    • WITH_OPENNI ☐(uncheck)
    • WITH_OPENNI2 ☑(check)
    • WITH_PCAP ☐(uncheck)
    • WITH_PNG ☐(uncheck)
    • WITH_QHULL ☑(check)
    • WITH_QT ☐(uncheck)
    • WITH_RSSDK ☐(uncheck)
    • WITH_VTK ☑(check)

  4. 設定内容を確認する。

    • Boost version: 1.61.0
      Found the following Boost libraries:
      system
      filesystem
      thread
      date_time
      iostreams
      chrono
      atomic
      regex
    • Eigen found (include: C:/Program Files/Eigen/include/eigen3, version: 3.2.8)
    • FLANN found (include: C:/Program Files/flann/include, lib: optimized;C:/Program Files/flann/lib/flann_cpp_s.lib;debug;C:/Program Files/flann/lib/flann_cpp_s-gd.lib)
    • QHULL found (include: C:/Program Files/qhull/include, lib: optimized;C:/Program Files/qhull/lib/qhullstatic.lib;debug;C:/Program Files/qhull/lib/qhullstatic_d.lib)
    • VTK_MAJOR_VERSION 7, rendering backend: OpenGL
      VTK found (include: C:/Program Files/VTK/include/vtk-7.0, lib: vtkalglib;vtkChartsCore;vtkCommonColor;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkInfovisCore;vtkFiltersExtraction;vtkCommonExecutionModel;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;vtkfreetype;vtkzlib;vtkDICOMParser;vtkDomainsChemistry;vtkIOXML;vtkIOGeometry;vtkIOCore;vtkIOXMLParser;vtkexpat;vtkexoIIc;vtkNetCDF;vtkNetCDF_cxx;vtkhdf5_hl;vtkhdf5;vtkFiltersAMR;vtkParallelCore;vtkIOLegacy;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelImaging;vtkFiltersProgrammable;vtkFiltersSelection;vtkFiltersSMP;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGeovisCore;vtkInfovisLayout;vtkImagingHybrid;vtkIOImage;vtkmetaio;vtkjpeg;vtkpng;vtktiff;vtkInteractionStyle;vtkInteractionWidgets;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;vtkViewsCore;vtkproj4;vtkgl2ps;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkIOAMR;vtkIOEnSight;vtkIOExodus;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;vtkRenderingOpenGL;vtkRenderingLabel;vtkIOImport;vtkIOInfovis;vtklibxml2;vtkIOLSDyna;vtkIOMINC;vtkIOMovie;vtkoggtheora;vtkIONetCDF;vtkIOParallel;vtkjsoncpp;vtkIOParallelXML;vtkIOPLY;vtkIOSQL;vtksqlite;vtkIOVideo;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingVolumeOpenGL;vtkViewsContext2D;vtkViewsInfovis
    • OpenNI 2 found (include: C:/Program Files/OpenNI2/Include, lib: C:/Program Files/OpenNI2/Lib/OpenNI2.lib, redist: C:\Program Files\OpenNI2\Redist)

  5. [Generate]を押してソリューションファイルを出力する。

Build

  1. Visual Studioを管理者権限で起動してPCLのソリューションファイル(C:\PCL-1.8.0\build\PCL.sln)を開く。
    (Visual Studioを管理者権限で起動しないとINSTALLが失敗する。)

  2. PCLをビルドする。(ALL_BUILD)

    1. ソリューションの構成(Debug, Release)を設定する。
    2. ソリューションエクスプローラーからALL_BUILDプロジェクトを選択する。
    3. [ビルド]>[ソリューションのビルド]を押してPCLをビルドする。

  3. PCLをインストールする。(INSTALL)

    1. ソリューションエクスプローラーからINSTALLプロジェクトを選択する。
    2. [ビルド]>[プロジェクトのみ]>[INSTALLのみをビルド]を押してPCLをインストールする。
      CMAKE_INSTALL_PREFIXで指定した出力先へ必要なファイルがコピーされる。

Environment Variable

  1. 環境変数PCL_ROOTを作成してPCLのパス(C:\Program Files\PCL)を設定する。

  2. 環境変数PathにPCLと3rdPartyのパスを追加する。

    • ;%PCL_ROOT%\bin
    • %OPENNI2_REDIST64%
Raw
PCL1.8.1.md

Building PCL 1.8.1 with Visual Studio

Download

  1. PCLをGitからクローンする。(C:\PCL-1.8.1)
    https://github.com/PointCloudLibrary/pcl/tree/pcl-1.8.1

3rdParty

  1. 3rdPartyのライブラリをビルド、インストールする。

  2. 3rdPartyのライブラリの環境変数を設定する。

    • BOOST_ROOT C:\Program Files\Boost
    • EIGEN_ROOT C:\Program Files\Eigen3
    • FLANN_ROOT C:\Program Files\flann
    • QHULL_ROOT C:\Program Files\qfull
    • VTK_DIR C:\Program Files\VTK

CMake

  1. ソースコードの入力先とソリューションファイルの出力先を指定する。

    • Where is the source code: C:\PCL-1.8.1
    • Where is build the binaries: C:\PCL-1.8.1\build

  2. [Configure]を押してターゲットとなるVisual Studioを選択する。

  3. 各種設定を行う。
    (GroupedとAdvancedにチェックを入れるとわかりやすい。)
    Ungrouped Entries

    • EIGEN_INCLUDE_DIR C:\Program Files\Eigen3\include\eigen3
    • VTK_DIR C:\Program Files\VTK\lib\cmake\vtk-8.0

    BUILD

    • BUILD_2d ☑(check)
    • BUILD_CUDA ☐(uncheck)
    • BUILD_GPU ☐(uncheck)
    • BUILD_all_in_one_installer ☑(check)*1
    • BUILD_apps ☐(uncheck)
    • BUILD_common ☑(check)
    • BUILD_example ☐(uncheck)
    • BUILD_features ☑(check)
    • BUILD_filters ☑(check)
    • BUILD_geometry ☑(check)
    • BUILD_global_tests ☐(uncheck)
    • BUILD_io ☑(check)
    • BUILD_kdtree ☑(check)
    • BUILD_keypoints ☑(check)
    • BUILD_ml ☑(check)  
    • BUILD_octree ☑(check)
    • BUILD_outofcore ☑(check)
    • BUILD_people ☑(check)
    • BUILD_recognition ☑(check)
    • BUILD_registration ☑(check)
    • BUILD_sample_consensus ☑(check)
    • BUILD_search ☑(check)
    • BUILD_segmentation ☑(check)
    • BUILD_simulation ☐(uncheck)
    • BUILD_stereo ☑(check)
    • BUILD_surface ☑(check)
    • BUILD_surface_on_nurbs ☑(check)
    • BUILD_tools ☑(check)*2
    • BUILD_tracking ☑(check)
    • BUILD_visualization ☑(check)

    *1 INSTALLプロジェクトをビルドしたとき<CMAKE_INSTALL_PREFIX>(C:\Program Files\PCL)に指定したディレクトリにPCLと3rdPartyがコピーされる。
    *2 ビルドに時間がかかるため、各種ツール類(bin\pcl_*.exe)が必要でなければチェックを外す。

    Boost

    • Boost_ATOMIC_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_atomic-vc141-mt-gd-1_64.lib
    • Boost_ATOMIC_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_atomic-vc141-mt-1_64.lib
    • Boost_CHRONO_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_chrono-vc141-mt-gd-1_64.lib
    • Boost_CHRONO_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_chrono-vc141-mt-1_64.lib
    • Boost_DATE_TIME_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_date_time-vc141-mt-gd-1_64.lib
    • Boost_DATE_TIME_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_date_time-vc141-mt-1_64.lib
    • Boost_FILESYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_filesystem-vc141-mt-gd-1_64.lib
    • Boost_FILESYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_filesystem-vc141-mt-1_64.lib
    • Boost_INCLUDE_DIR C:\Program Files\Boost\include\boost-1_64
    • Boost_IOSTREAMS_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_iostreams-vc141-mt-gd-1_64.lib
    • Boost_IOSTREAMS_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_iostreams-vc141-mt-1_64.lib
    • Boost_LIBRARY_DIR_DEBUG C:\Program Files\Boost\lib
    • Boost_LIBRARY_DIR_RELEASE C:\Program Files\Boost\lib
    • Boost_MPI_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_mpi-vc141-mt-gd-1_64.lib
    • Boost_MPI_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_mpi-vc141-mt-1_64.lib
    • Boost_REGEX_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_regex-vc141-mt-gd-1_64.lib
    • Boost_REGEX_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_regex-vc141-mt-1_64.lib
    • Boost_SERIALIZATION_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_serialization-vc141-mt-gd-1_64.lib
    • Boost_SERIALIZATION_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_serialization-vc141-mt-1_64.lib
    • Boost_SYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_system-vc141-mt-gd-1_64.lib
    • Boost_SYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_system-vc141-mt-1_64.lib
    • Boost_THREAD_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_thread-vc141-mt-gd-1_64.lib
    • Boost_THREAD_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_thread-vc141-mt-1_64.lib

    CMAKE

    • CMAKE_CONFIGURATION_TYPES Debug;Release
    • CMAKE_INSTALL_PREFIX C:\Program Files\PCL

    FLANN

    • FLANN_INCLUDE_DIR C:\Program Files\flann\include
    • FLANN_LIBRARY C:\Program Files\flann\lib\flann_cpp_s.lib
    • FLANN_LIBRARY_DEBUG C:\Program Files\flann\lib\flann_cpp_s-gd.lib

    OPENNI2

    • OPENNI2_INCLUDE_DIRS C:\Program Files\OpenNI2\Include
    • OPENNI2_LIBRARY C:\Program Files\OpenNI2\Lib\OpenNI2

    QHULL

    • QHULL_INCLUDE_DIR C:\Program Files\qhull\include
    • QHULL_LIBRARY C:\Program Files\qhull\lib\qhullstatic.lib
    • QHULL_LIBRARY_DEBUG C:\Program Files\qhull\lib\qhullstatic_d.lib

    WITH

    • WITH_CUDA ☐(uncheck)
    • WITH_DAVIDSDK ☐(uncheck)
    • WITH_DOCS ☐(uncheck)
    • WITH_DSSDK ☐(uncheck)
    • WITH_ENSENSO ☐(uncheck)
    • WITH_FZAPI ☐(uncheck)
    • WITH_LIBUSB ☐(uncheck)
    • WITH_OPENGL ☑(check)
    • WITH_OPENNI ☐(uncheck)
    • WITH_OPENNI2 ☑(check)
    • WITH_PCAP ☐(uncheck)
    • WITH_PNG ☐(uncheck)
    • WITH_QHULL ☑(check)
    • WITH_QT ☐(uncheck)
    • WITH_RSSDK ☐(uncheck)
    • WITH_VTK ☑(check)

  4. 設定内容を確認する。

    • Boost version: 1.64.0
      Found the following Boost libraries:
      system
      filesystem
      thread
      date_time
      iostreams
      chrono
      atomic
      regex
    • Eigen found (include: C:/Program Files/Eigen/include/eigen3, version: 3.3.4)
    • FLANN found (include: C:/Program Files/flann/include, lib: optimized;C:/Program Files/flann/lib/flann_cpp_s.lib;debug;C:/Program Files/flann/lib/flann_cpp_s-gd.lib)
    • QHULL found (include: C:/Program Files/qhull/include, lib: optimized;C:/Program Files/qhull/lib/qhullstatic.lib;debug;C:/Program Files/qhull/lib/qhullstatic_d.lib)
    • VTK_MAJOR_VERSION 8, rendering backend: OpenGL
      VTK found (include: C:/Program Files/VTK/include/vtk-8.0, lib: vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;vtkfreetype;vtkzlib;vtkDICOMParser;vtkDomainsChemistry;vtkIOLegacy;vtkIOCore;vtklz4;vtkIOXMLParser;vtkexpat;vtkFiltersAMR;vtkIOXML;vtkParallelCore;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelImaging;vtkFiltersPoints;vtkFiltersProgrammable;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersTopology;vtkFiltersVerdict;verdict;vtkGeovisCore;vtkIOImage;vtkmetaio;vtkjpeg;vtkpng;vtktiff;vtkInfovisLayout;vtkImagingHybrid;vtkInteractionStyle;vtkInteractionWidgets;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkViewsCore;vtkproj4;vtkIOAMR;vtkhdf5_hl;vtkhdf5;vtkIOEnSight;vtkIOExodus;vtkexoIIc;vtkNetCDF;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;vtkRenderingOpenGL;vtkgl2ps;vtklibharu;vtkIOExportOpenGL;vtkRenderingLabel;vtkIOGeometry;vtkIOImport;vtkIOInfovis;vtklibxml2;vtkIOLSDyna;vtkIOMINC;vtkIOMovie;vtkoggtheora;vtkIONetCDF;vtknetcdfcpp;vtkIOPLY;vtkIOParallel;vtkjsoncpp;vtkIOParallelXML;vtkIOSQL;vtksqlite;vtkIOTecplotTable;vtkIOVideo;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingVolumeOpenGL;vtkViewsContext2D;vtkViewsInfovis
    • OpenNI 2 found (include: C:/Program Files/OpenNI2/Include, lib: C:/Program Files/OpenNI2/Lib/OpenNI2.lib, redist: C:\Program Files\OpenNI2\Redist)

  5. [Generate]を押してソリューションファイルを出力する。

Build

  1. Visual Studioを管理者権限で起動してPCLのソリューションファイル(C:\PCL-1.8.1\build\PCL.sln)を開く。
    (Visual Studioを管理者権限で起動しないとINSTALLが失敗する。)

  2. PCLをビルドする。(ALL_BUILD)

    1. ソリューションの構成(Debug, Release)を設定する。
    2. ソリューションエクスプローラーからALL_BUILDプロジェクトを選択する。
    3. [ビルド]>[ソリューションのビルド]を押してPCLをビルドする。

  3. PCLをインストールする。(INSTALL)

    1. ソリューションエクスプローラーからINSTALLプロジェクトを選択する。
    2. [ビルド]>[プロジェクトのみ]>[INSTALLのみをビルド]を押してPCLをインストールする。
      CMAKE_INSTALL_PREFIXで指定した出力先へ必要なファイルがコピーされる。

Environment Variable

  1. 環境変数PCL_ROOTを作成してPCLのパス(C:\Program Files\PCL)を設定する。

  2. 環境変数PathにPCLと3rdPartyのパスを追加する。

    • ;%PCL_ROOT%\bin
    • ;%OPENNI2_REDIST64%
Raw
PCL1.9.0.md

Building PCL 1.9.0 with Visual Studio

Download

  1. PCLをGitからクローンする。(C:\PCL-1.9.0)
    https://github.com/PointCloudLibrary/pcl/tree/pcl-1.9.0

3rdParty

  1. 3rdPartyのライブラリをビルド、インストールする。

  2. 3rdPartyのライブラリの環境変数を設定する。

    • BOOST_ROOT C:\Program Files\Boost
    • EIGEN_ROOT C:\Program Files\Eigen3
    • FLANN_ROOT C:\Program Files\flann
    • QHULL_ROOT C:\Program Files\qfull
    • VTK_DIR C:\Program Files\VTK

CMake

  1. ソースコードの入力先とソリューションファイルの出力先を指定する。

    • Where is the source code: C:\PCL-1.9.0
    • Where is build the binaries: C:\PCL-1.9.0\build

  2. [Configure]を押してターゲットとなるVisual Studioを選択する。

  3. 各種設定を行う。
    (GroupedとAdvancedにチェックを入れるとわかりやすい。)
    Ungrouped Entries

    • EIGEN_INCLUDE_DIR C:\Program Files\Eigen3\include\eigen3
    • VTK_DIR C:\Program Files\VTK\lib\cmake\vtk-8.1

    BUILD

    • BUILD_2d ☑(check)
    • BUILD_CUDA ☐(uncheck)
    • BUILD_GPU ☐(uncheck)
    • BUILD_all_in_one_installer ☑(check)*1
    • BUILD_apps ☐(uncheck)
    • BUILD_common ☑(check)
    • BUILD_example ☐(uncheck)
    • BUILD_features ☑(check)
    • BUILD_filters ☑(check)
    • BUILD_geometry ☑(check)
    • BUILD_global_tests ☐(uncheck)
    • BUILD_io ☑(check)
    • BUILD_kdtree ☑(check)
    • BUILD_keypoints ☑(check)
    • BUILD_ml ☑(check)  
    • BUILD_octree ☑(check)
    • BUILD_outofcore ☑(check)
    • BUILD_people ☑(check)
    • BUILD_recognition ☑(check)
    • BUILD_registration ☑(check)
    • BUILD_sample_consensus ☑(check)
    • BUILD_search ☑(check)
    • BUILD_segmentation ☑(check)
    • BUILD_simulation ☐(uncheck)
    • BUILD_stereo ☑(check)
    • BUILD_surface ☑(check)
    • BUILD_surface_on_nurbs ☑(check)
    • BUILD_tools ☑(check)*2
    • BUILD_tracking ☑(check)
    • BUILD_visualization ☑(check)

    *1 INSTALLプロジェクトをビルドしたとき<CMAKE_INSTALL_PREFIX>(C:\Program Files\PCL)に指定したディレクトリにPCLと3rdPartyがコピーされる。
    *2 ビルドに時間がかかるため、各種ツール類(bin\pcl_*.exe)が必要でなければチェックを外す。

    Boost

    • Boost_ATOMIC_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_atomic-vc141-mt-gd-1_68.lib
    • Boost_ATOMIC_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_atomic-vc141-mt-1_68.lib
    • Boost_CHRONO_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_chrono-vc141-mt-gd-1_68.lib
    • Boost_CHRONO_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_chrono-vc141-mt-1_68.lib
    • Boost_DATE_TIME_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_date_time-vc141-mt-gd-1_68.lib
    • Boost_DATE_TIME_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_date_time-vc141-mt-1_68.lib
    • Boost_FILESYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_filesystem-vc141-mt-gd-1_68.lib
    • Boost_FILESYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_filesystem-vc141-mt-1_68.lib
    • Boost_INCLUDE_DIR C:\Program Files\Boost\include\boost-1_68
    • Boost_IOSTREAMS_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_iostreams-vc141-mt-gd-1_68.lib
    • Boost_IOSTREAMS_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_iostreams-vc141-mt-1_68.lib
    • Boost_LIBRARY_DIR_DEBUG C:\Program Files\Boost\lib
    • Boost_LIBRARY_DIR_RELEASE C:\Program Files\Boost\lib
    • Boost_MPI_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_mpi-vc141-mt-gd-1_68.lib
    • Boost_MPI_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_mpi-vc141-mt-1_68.lib
    • Boost_REGEX_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_regex-vc141-mt-gd-1_68.lib
    • Boost_REGEX_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_regex-vc141-mt-1_68.lib
    • Boost_SERIALIZATION_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_serialization-vc141-mt-gd-1_68.lib
    • Boost_SERIALIZATION_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_serialization-vc141-mt-1_68.lib
    • Boost_SYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_system-vc141-mt-gd-1_68.lib
    • Boost_SYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_system-vc141-mt-1_68.lib
    • Boost_THREAD_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_thread-vc141-mt-gd-1_68.lib
    • Boost_THREAD_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_thread-vc141-mt-1_68.lib

    CMAKE

    • CMAKE_CONFIGURATION_TYPES Debug;Release
    • CMAKE_INSTALL_PREFIX C:\Program Files\PCL

    FLANN

    • FLANN_INCLUDE_DIR C:\Program Files\flann\include
    • FLANN_LIBRARY C:\Program Files\flann\lib\flann_cpp_s.lib
    • FLANN_LIBRARY_DEBUG C:\Program Files\flann\lib\flann_cpp_s-gd.lib

    OPENNI2

    • OPENNI2_INCLUDE_DIRS C:\Program Files\OpenNI2\Include
    • OPENNI2_LIBRARY C:\Program Files\OpenNI2\Lib\OpenNI2

    QHULL

    • QHULL_INCLUDE_DIR C:\Program Files\qhull\include
    • QHULL_LIBRARY C:\Program Files\qhull\lib\qhullstatic.lib
    • QHULL_LIBRARY_DEBUG C:\Program Files\qhull\lib\qhullstatic_d.lib

    WITH

    • WITH_CUDA ☐(uncheck)
    • WITH_DAVIDSDK ☐(uncheck)
    • WITH_DOCS ☐(uncheck)
    • WITH_DSSDK ☐(uncheck)
    • WITH_ENSENSO ☐(uncheck)
    • WITH_FZAPI ☐(uncheck)
    • WITH_LIBUSB ☐(uncheck)
    • WITH_OPENGL ☑(check)
    • WITH_OPENNI ☐(uncheck)
    • WITH_OPENNI2 ☑(check)
    • WITH_PCAP ☐(uncheck)
    • WITH_PNG ☐(uncheck)
    • WITH_QHULL ☑(check)
    • WITH_QT ☐(uncheck)
    • WITH_RSSDK ☐(uncheck)
    • WITH_VTK ☑(check)

  4. 設定内容を確認する。

    • Boost version: 1.68.0
      Found the following Boost libraries:
      system
      filesystem
      thread
      date_time
      iostreams
      chrono
      atomic
      regex
    • Eigen found (include: C:/Program Files/Eigen/include/eigen3, version: 3.3.5)
    • FLANN found (include: C:/Program Files/flann/include, lib: optimized;C:/Program Files/flann/lib/flann_cpp_s.lib;debug;C:/Program Files/flann/lib/flann_cpp_s-gd.lib)
    • QHULL found (include: C:/Program Files/qhull/include, lib: optimized;C:/Program Files/qhull/lib/qhullstatic.lib;debug;C:/Program Files/qhull/lib/qhullstatic_d.lib)
    • VTK_MAJOR_VERSION 8, rendering backend: OpenGL
      VTK found (include: C:/Program Files/VTK/include/vtk-8.1, lib: vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;vtkfreetype;vtkzlib;vtkDICOMParser;vtkDomainsChemistry;vtkIOLegacy;vtkIOCore;vtklz4;vtkIOXMLParser;vtkexpat;vtkFiltersAMR;vtkIOXML;vtkParallelCore;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelImaging;vtkFiltersPoints;vtkFiltersProgrammable;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersTopology;vtkFiltersVerdict;verdict;vtkGeovisCore;vtkIOImage;vtkmetaio;vtkjpeg;vtkpng;vtktiff;vtkInfovisLayout;vtkImagingHybrid;vtkInteractionStyle;vtkInteractionWidgets;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkViewsCore;vtkproj4;vtkIOAMR;vtkhdf5_hl;vtkhdf5;vtkIOEnSight;vtkIOExodus;vtkexoIIc;vtkNetCDF;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;vtkRenderingOpenGL;vtkgl2ps;vtklibharu;vtkIOExportOpenGL;vtkRenderingLabel;vtkIOGeometry;vtkIOImport;vtkIOInfovis;vtklibxml2;vtkIOLSDyna;vtkIOMINC;vtkIOMovie;vtkoggtheora;vtkIONetCDF;vtknetcdfcpp;vtkIOPLY;vtkIOParallel;vtkjsoncpp;vtkIOParallelXML;vtkIOSQL;vtksqlite;vtkIOTecplotTable;vtkIOVideo;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingVolumeOpenGL;vtkViewsContext2D;vtkViewsInfovis
    • OpenNI 2 found (include: C:/Program Files/OpenNI2/Include, lib: C:/Program Files/OpenNI2/Lib/OpenNI2.lib, redist: C:\Program Files\OpenNI2\Redist)

  5. [Generate]を押してソリューションファイルを出力する。

Build

  1. Visual Studioを管理者権限で起動してPCLのソリューションファイル(C:\PCL-1.9.0\build\PCL.sln)を開く。
    (Visual Studioを管理者権限で起動しないとINSTALLが失敗する。)

  2. PCLをビルドする。(ALL_BUILD)

    1. ソリューションの構成(Debug, Release)を設定する。
    2. ソリューションエクスプローラーからALL_BUILDプロジェクトを選択する。
    3. [ビルド]>[ソリューションのビルド]を押してPCLをビルドする。

  3. PCLをインストールする。(INSTALL)

    1. ソリューションエクスプローラーからINSTALLプロジェクトを選択する。
    2. [ビルド]>[プロジェクトのみ]>[INSTALLのみをビルド]を押してPCLをインストールする。
      CMAKE_INSTALL_PREFIXで指定した出力先へ必要なファイルがコピーされる。

Environment Variable

  1. 環境変数PCL_ROOTを作成してPCLのパス(C:\Program Files\PCL)を設定する。

  2. 環境変数PathにPCLと3rdPartyのパスを追加する。

    • ;%PCL_ROOT%\bin
    • ;%OPENNI2_REDIST64%
Raw
PCL1.9.1.md

Building PCL 1.9.1 with Visual Studio

Download

  1. PCLをGitからクローンする。(C:\PCL-1.9.1)
    https://github.com/PointCloudLibrary/pcl/tree/pcl-1.9.1

3rdParty

  1. 3rdPartyのライブラリをビルド、インストールする。

  2. 3rdPartyのライブラリの環境変数を設定する。

    • BOOST_ROOT C:\Program Files\Boost
    • EIGEN_ROOT C:\Program Files\Eigen3
    • FLANN_ROOT C:\Program Files\flann
    • QHULL_ROOT C:\Program Files\qfull
    • VTK_DIR C:\Program Files\VTK

CMake

  1. ソースコードの入力先とソリューションファイルの出力先を指定する。

    • Where is the source code: C:\PCL-1.9.0
    • Where is build the binaries: C:\PCL-1.9.0\build

  2. [Configure]を押してターゲットとなるVisual Studioを選択する。

  3. 各種設定を行う。
    (GroupedとAdvancedにチェックを入れるとわかりやすい。)
    Ungrouped Entries

    • EIGEN_INCLUDE_DIR C:\Program Files\Eigen3\include\eigen3
    • VTK_DIR C:\Program Files\VTK\lib\cmake\vtk-8.1

    BUILD

    • BUILD_2d ☑(check)
    • BUILD_CUDA ☐(uncheck)
    • BUILD_GPU ☐(uncheck)
    • BUILD_all_in_one_installer ☑(check)*1
    • BUILD_apps ☐(uncheck)
    • BUILD_common ☑(check)
    • BUILD_example ☐(uncheck)
    • BUILD_features ☑(check)
    • BUILD_filters ☑(check)
    • BUILD_geometry ☑(check)
    • BUILD_global_tests ☐(uncheck)
    • BUILD_io ☑(check)
    • BUILD_kdtree ☑(check)
    • BUILD_keypoints ☑(check)
    • BUILD_ml ☑(check)  
    • BUILD_octree ☑(check)
    • BUILD_outofcore ☑(check)
    • BUILD_people ☑(check)
    • BUILD_recognition ☑(check)
    • BUILD_registration ☑(check)
    • BUILD_sample_consensus ☑(check)
    • BUILD_search ☑(check)
    • BUILD_segmentation ☑(check)
    • BUILD_simulation ☐(uncheck)
    • BUILD_stereo ☑(check)
    • BUILD_surface ☑(check)
    • BUILD_surface_on_nurbs ☑(check)
    • BUILD_tools ☑(check)*2
    • BUILD_tracking ☑(check)
    • BUILD_visualization ☑(check)

    *1 INSTALLプロジェクトをビルドしたとき<CMAKE_INSTALL_PREFIX>(C:\Program Files\PCL)に指定したディレクトリにPCLと3rdPartyがコピーされる。
    *2 ビルドに時間がかかるため、各種ツール類(bin\pcl_*.exe)が必要でなければチェックを外す。

    Boost

    • Boost_ATOMIC_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_atomic-vc141-mt-gd-1_68.lib
    • Boost_ATOMIC_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_atomic-vc141-mt-1_68.lib
    • Boost_CHRONO_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_chrono-vc141-mt-gd-1_68.lib
    • Boost_CHRONO_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_chrono-vc141-mt-1_68.lib
    • Boost_DATE_TIME_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_date_time-vc141-mt-gd-1_68.lib
    • Boost_DATE_TIME_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_date_time-vc141-mt-1_68.lib
    • Boost_FILESYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_filesystem-vc141-mt-gd-1_68.lib
    • Boost_FILESYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_filesystem-vc141-mt-1_68.lib
    • Boost_INCLUDE_DIR C:\Program Files\Boost\include\boost-1_68
    • Boost_IOSTREAMS_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_iostreams-vc141-mt-gd-1_68.lib
    • Boost_IOSTREAMS_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_iostreams-vc141-mt-1_68.lib
    • Boost_LIBRARY_DIR_DEBUG C:\Program Files\Boost\lib
    • Boost_LIBRARY_DIR_RELEASE C:\Program Files\Boost\lib
    • Boost_MPI_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_mpi-vc141-mt-gd-1_68.lib
    • Boost_MPI_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_mpi-vc141-mt-1_68.lib
    • Boost_REGEX_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_regex-vc141-mt-gd-1_68.lib
    • Boost_REGEX_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_regex-vc141-mt-1_68.lib
    • Boost_SERIALIZATION_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_serialization-vc141-mt-gd-1_68.lib
    • Boost_SERIALIZATION_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_serialization-vc141-mt-1_68.lib
    • Boost_SYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_system-vc141-mt-gd-1_68.lib
    • Boost_SYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_system-vc141-mt-1_68.lib
    • Boost_THREAD_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_thread-vc141-mt-gd-1_68.lib
    • Boost_THREAD_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_thread-vc141-mt-1_68.lib

    CMAKE

    • CMAKE_CONFIGURATION_TYPES Debug;Release
    • CMAKE_INSTALL_PREFIX C:\Program Files\PCL

    FLANN

    • FLANN_INCLUDE_DIR C:\Program Files\flann\include
    • FLANN_LIBRARY C:\Program Files\flann\lib\flann_cpp_s.lib
    • FLANN_LIBRARY_DEBUG C:\Program Files\flann\lib\flann_cpp_s-gd.lib

    OPENNI2

    • OPENNI2_INCLUDE_DIRS C:\Program Files\OpenNI2\Include
    • OPENNI2_LIBRARY C:\Program Files\OpenNI2\Lib\OpenNI2

    QHULL

    • QHULL_INCLUDE_DIR C:\Program Files\qhull\include
    • QHULL_LIBRARY C:\Program Files\qhull\lib\qhullstatic.lib
    • QHULL_LIBRARY_DEBUG C:\Program Files\qhull\lib\qhullstatic_d.lib

    WITH

    • WITH_CUDA ☐(uncheck)
    • WITH_DAVIDSDK ☐(uncheck)
    • WITH_DOCS ☐(uncheck)
    • WITH_DSSDK ☐(uncheck)
    • WITH_ENSENSO ☐(uncheck)
    • WITH_FZAPI ☐(uncheck)
    • WITH_LIBUSB ☐(uncheck)
    • WITH_OPENGL ☑(check)
    • WITH_OPENNI ☐(uncheck)
    • WITH_OPENNI2 ☑(check)
    • WITH_PCAP ☐(uncheck)
    • WITH_PNG ☐(uncheck)
    • WITH_QHULL ☑(check)
    • WITH_QT ☐(uncheck)
    • WITH_RSSDK ☐(uncheck)
    • WITH_VTK ☑(check)

  4. 設定内容を確認する。

    • Boost version: 1.68.0
      Found the following Boost libraries:
      system
      filesystem
      thread
      date_time
      iostreams
      chrono
      atomic
      regex
    • Eigen found (include: C:/Program Files/Eigen/include/eigen3, version: 3.3.5)
    • FLANN found (include: C:/Program Files/flann/include, lib: optimized;C:/Program Files/flann/lib/flann_cpp_s.lib;debug;C:/Program Files/flann/lib/flann_cpp_s-gd.lib)
    • QHULL found (include: C:/Program Files/qhull/include, lib: optimized;C:/Program Files/qhull/lib/qhullstatic.lib;debug;C:/Program Files/qhull/lib/qhullstatic_d.lib)
    • VTK_MAJOR_VERSION 8, rendering backend: OpenGL
      VTK found (include: C:/Program Files/VTK/include/vtk-8.1, lib: vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;vtkfreetype;vtkzlib;vtkDICOMParser;vtkDomainsChemistry;vtkIOLegacy;vtkIOCore;vtklz4;vtkIOXMLParser;vtkexpat;vtkFiltersAMR;vtkIOXML;vtkParallelCore;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelImaging;vtkFiltersPoints;vtkFiltersProgrammable;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersTopology;vtkFiltersVerdict;verdict;vtkGeovisCore;vtkIOImage;vtkmetaio;vtkjpeg;vtkpng;vtktiff;vtkInfovisLayout;vtkImagingHybrid;vtkInteractionStyle;vtkInteractionWidgets;vtkImagingColor;vtkRenderingAnnotation;vtkRenderingVolume;vtkViewsCore;vtkproj4;vtkIOAMR;vtkhdf5_hl;vtkhdf5;vtkIOEnSight;vtkIOExodus;vtkexoIIc;vtkNetCDF;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;vtkRenderingOpenGL;vtkgl2ps;vtklibharu;vtkIOExportOpenGL;vtkRenderingLabel;vtkIOGeometry;vtkIOImport;vtkIOInfovis;vtklibxml2;vtkIOLSDyna;vtkIOMINC;vtkIOMovie;vtkoggtheora;vtkIONetCDF;vtknetcdfcpp;vtkIOPLY;vtkIOParallel;vtkjsoncpp;vtkIOParallelXML;vtkIOSQL;vtksqlite;vtkIOTecplotTable;vtkIOVideo;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingVolumeOpenGL;vtkViewsContext2D;vtkViewsInfovis
    • OpenNI 2 found (include: C:/Program Files/OpenNI2/Include, lib: C:/Program Files/OpenNI2/Lib/OpenNI2.lib, redist: C:\Program Files\OpenNI2\Redist)

  5. [Generate]を押してソリューションファイルを出力する。

Build

  1. Visual Studioを管理者権限で起動してPCLのソリューションファイル(C:\PCL-1.9.0\build\PCL.sln)を開く。
    (Visual Studioを管理者権限で起動しないとINSTALLが失敗する。)

  2. PCLをビルドする。(ALL_BUILD)

    1. ソリューションの構成(Debug, Release)を設定する。
    2. ソリューションエクスプローラーからALL_BUILDプロジェクトを選択する。
    3. [ビルド]>[ソリューションのビルド]を押してPCLをビルドする。

  3. PCLをインストールする。(INSTALL)

    1. ソリューションエクスプローラーからINSTALLプロジェクトを選択する。
    2. [ビルド]>[プロジェクトのみ]>[INSTALLのみをビルド]を押してPCLをインストールする。
      CMAKE_INSTALL_PREFIXで指定した出力先へ必要なファイルがコピーされる。

Environment Variable

  1. 環境変数PCL_ROOTを作成してPCLのパス(C:\Program Files\PCL)を設定する。

  2. 環境変数PathにPCLと3rdPartyのパスを追加する。

    • ;%PCL_ROOT%\bin
    • ;%OPENNI2_REDIST64%
@NonameAuPlatal

This comment has been minimized.

Sign in to view

NonameAuPlatal commented Mar 21, 2015

I get this problem
" CMake Error at C:/Program Files (x86)/CMake/share/cmake-3.0/Modules/FindPackageHandleStandardArgs.cmake:136 (message):
Could NOT find FLANN (missing: FLANN_LIBRARY) (Required is at least version
"1.7.0")
Call Stack (most recent call first):
C:/Program Files (x86)/CMake/share/cmake-3.0/Modules/FindPackageHandleStandardArgs.cmake:343 (_FPHSA_FAILURE_MESSAGE)
cmake/Modules/FindFLANN.cmake:54 (find_package_handle_standard_args)
CMakeLists.txt:253 (find_package)
Configuring incomplete, errors occurred!
@UnaNancyOwen

This comment has been minimized.

Sign in to view
Owner

UnaNancyOwen commented Jul 22, 2015

Note: Building PCL 1.7.2 with Visual Studio 2015

Visual Studio 2015の破壊的変更に起因するエラーが発生するため、以下のファイルを修正する。
詳細はBreaking Changes in Visual C++のAdjacent string literals、hash_map and hash_setを参照してください。

  • surface\src\3rdparty\opennurbs\opennurbs_archive.cpp
    13560 line

        rc = archive.Write3dmStartSection( version, "Archive created by ON_WriteOneObjectArchive " __DATE__ " " __TIME__ );

    構文解析方法の変更により隣接する文字列リテラルの間にはスペースを挿入する必要があります。

  • surface\include\pcl\surface\3rdparty\poisson4\hash.h
    3-4 line (add)

    #define _SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS
#include <hash_map>

    非標準ヘッダ<hash_map>はVisual Studio 2015で廃止、将来的に削除されます。
    この定義は一時的な措置としてエラーを抑制します。

* Pull Rewuest #1286がマージされました。1.8.0以降のリリースではこの修正は必要ありません。
@Sinmeth

This comment has been minimized.

Sign in to view

Sinmeth commented Feb 18, 2016

I have a problem when I in the first step of CMake with I don't know how to solve this problem the result are attached below.
Thanks you.
capture
](url)
@caesaralpha

This comment has been minimized.

Sign in to view

caesaralpha commented Feb 24, 2016

I have followed your instruction. I installed my all-in-one installer 1.8.0, on the default directory which is C:\Program Files\ PCL 1.8.0. When I tried to build using cmake I got this error. I have struggling for two week only for installing PCL into my visual studio. I need your help, as soon as possible. Thanks a lot.
1
@Abdo1994

This comment has been minimized.

Sign in to view

Abdo1994 commented Mar 7, 2016

aa
What to do with this error?
@kage991

This comment has been minimized.

Sign in to view

kage991 commented Jul 9, 2016

While building in microsoft visual studio i get this errors:
pcl-1.8.0\visualization\src\pcl_visualizer.cpp(1495): error C2440: 'static_cast': cannot convert from 'double' to 'pcl::visualization::LookUpTableRepresentationProperties'

note: Conversions between enumeration and floating point values are no longer allowed

pcl-1.8.0\visualization\src\pcl_visualizer.cpp(1741): error C2440: 'static_cast': cannot convert from 'double' to 'pcl::visualization::LookUpTableRepresentationProperties'

note: Conversions between enumeration and floating point values are no longer allowed

Can you please help me? Is there a workaround for this type of error?
mvs_error_c2440
@danlugli

This comment has been minimized.

Sign in to view

danlugli commented Dec 4, 2016

Dear UnaNancyOwen,
first of all, thank you for your work.
I installed PCL-1.8.0 witho your .exe installer on Windows 10.
A simple test program trying to write a PCD file, written and compiled with Visual Studio Community 2013 (Release, x64, /MT), gives the following errors:
Error 1 error LNK2038: mismatch detected for 'RuntimeLibrary': value 'MD_DynamicRelease' doesn't match value 'MT_StaticRelease' in About.obj C:\Users\danlu_000\Documents\wip\wxObjectMatcher\libboost_system-vc120-mt-1_61.lib(error_code.obj) wxObjectMatcher
Error 2 error LNK1104: cannot open file 'libboost_thread-vc120-mt-s-1_61.lib' C:\Users\danlu_000\Documents\wip\wxObjectMatcher\LINK wxObjectMatcher
It looks like:

  1. libboost_system-vc120-mt-1_61.lib is compiled with /MD instead of /MT
  2. libboost_thread-vc120-mt-s-1_61.lib is in effect missing, while libboost_thread-vc120-mt-1_61.lib is available.
    Do you have any suggestion for me?
    Thank you in advance
    Daniele
@danlugli

This comment has been minimized.

Sign in to view

danlugli commented Dec 5, 2016

Sorry, I see now that my last post is in the wrong place. It is not about building PCL with VS, but about building a test program with PCL installed from exe installer.

Best regards
Daniele
@zkailong

This comment has been minimized.

Sign in to view

zkailong commented Feb 22, 2017

I have a problem.I build PCL1.8.0 with VS2013.And I want to build all-in-one installers.But when I configure,generate and build by VS2013.I cannot find where the installers is.So could you please tell me where can I find it?Thanks a lot.
@nouei

This comment has been minimized.

Sign in to view

nouei commented Feb 22, 2017 •
edited

Hi,
Thank you for your valuable comments.
Regarding to Building PCL 1.8.0 with Visual Studio
Boost

Boost_DATE_TIME_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_date_time-vc140-mt-1_61.lib
Boost_DATE_TIME_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_date_time-vc140-mt-gd-1_61.lib
Boost_FILESYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_filesystem-vc140-mt-1_61.lib
Boost_FILESYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_filesystem-vc140-mt-gd-1_61.lib
Boost_INCLUDE_DIR C:\Program Files\Boost\include\boost-1_61
Boost_IOSTREAMS_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_iostreams-vc140-mt-1_61.lib
Boost_IOSTREAMS_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_iostreams-vc140-mt-gd-1_61.lib
Boost_LIBRARY_DIR_DEBUG C:\Program Files\Boost\lib
Boost_LIBRARY_DIR_RELEASE C:\Program Files\Boost\lib
Boost_MPI_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_mpi-vc140-mt-1_61.lib
Boost_MPI_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_mpi-vc140-mt-gd-1_61.lib
Boost_SERIALIZATION_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_serialization-vc140-mt-1_61.lib
Boost_SERIALIZATION_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_serialization-vc140-mt-gd-1_61.lib
Boost_SYSTEM_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_system-vc140-mt-1_61.lib
Boost_SYSTEM_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_system-vc140-mt-gd-1_61.lib
Boost_THREAD_LIBRARY_DEBUG C:\Program Files\Boost\lib\libboost_thread-vc140-mt-1_61.lib
Boost_THREAD_LIBRARY_RELEASE C:\Program Files\Boost\lib\libboost_thread-vc140-mt-gd-1_61.lib

usually debug libs must have -gd, but in above the release libs have -gd. furthuremore release files has smaller size then debug file as we can see in boost lib directory. I think it has been written reverse.
@sebastien247

This comment has been minimized.

Sign in to view

sebastien247 commented Feb 23, 2017 •
edited

Hi, i have some errors on build ALL_BUILD project with Visual Studio 2015. specifically on project pcl_visualization and pcl_outofcore:

C:\Users\SD\Documents\PCL\Tuto\pcl-pcl-1.8.0\visualization\src\pcl_visualizer.cpp(1495): error C2440: 'static_cast': cannot convert from 'double' to 'pcl::visualization::LookUpTableRepresentationProperties'
  C:\Users\SD\Documents\PCL\Tuto\pcl-pcl-1.8.0\visualization\src\pcl_visualizer.cpp(1495): note: Conversions between enumeration and floating point values are no longer allowed
C:\Users\SD\Documents\PCL\Tuto\pcl-pcl-1.8.0\visualization\src\pcl_visualizer.cpp(1741): error C2440: 'static_cast': cannot convert from 'double' to 'pcl::visualization::LookUpTableRepresentationProperties'
  C:\Users\SD\Documents\PCL\Tuto\pcl-pcl-1.8.0\visualization\src\pcl_visualizer.cpp(1741): note: Conversions between enumeration and floating point values are no longer allowed

LINK : fatal error LNK1181: cannot open input file '..\lib\pcl_visualization_release.lib'
LINK : fatal error LNK1181: cannot open input file '..\..\lib\pcl_outofcore_release.lib'

thanks for your help.

Sébastien

Edit :
Fix : PointCloudLibrary/pcl#1634
@raghav2984

This comment has been minimized.

Sign in to view

raghav2984 commented Apr 3, 2018

Hi UnaNancyOwen,
Thank you for a detailed procedure. I would like to know if PCL can be used with VB.NET? As we would like to link PCL with our existing .NET projects, we would like to develop PCL program in .NET environment. Looking forward for your help.

Regards,
Raghav
@PatrickAllenCooper

This comment has been minimized.

Sign in to view

PatrickAllenCooper commented Aug 9, 2018

Hi there,

Just a quick heads up to anyone trapped with a confusing error complaining opengl.lib cannot be found during the BUILD_ALL in VS.

The error makes reference to your configuration of VTK in CMake. Many build guides will insist on renaming opengl32 to just opengl under the OPENGL category when configuring in CMake. However, this can cause build problems for PCL depending on your environment.

Hope this helped someone!
@KJChang

This comment has been minimized.

Sign in to view

KJChang commented Nov 3, 2018

Hello!
I am new to CMake. When I Cmake my PCL1.8. It just tells me this!
boost
I have already tried different verson of boost but I still can't figure out the reason. It has already concern me for a very long time!
Is there any solution to this?
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment