将 Cmake 与 PCL 和 OpenCV 一起使用答案

【问题标题】：Use Cmake with PCL and OpenCV将 Cmake 与 PCL 和 OpenCV 一起使用
【发布时间】：2017-10-09 16:08:06
【问题描述】：

我是计算机视觉的新手。在 Cmake 上，我正在尝试将 PCL 和 OpenCV 与 2D 激光雷达传感器一起使用。

我看过这个教程：[http://unanancyowen.com/en/pcl18/#Download 1

为了在 CmakeLists.txt 上配置 PCL，使用以下代码：

cmake_minimum_required( VERSION 2.8 )
# Create Project
project( solution )
add_executable( project main.cpp )
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find Packages
find_package( PCL 1.8 REQUIRED )

if( PCL_FOUND )
  # Additional Include Directories
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${PCL_INCLUDE_DIRS} )

  # Preprocessor Definitions
  # [C/C++]>[Preprocessor]>[Preprocessor Definitions]
  add_definitions( ${PCL_DEFINITIONS} )
  #add_definitions( -DPCL_NO_PRECOMPILE )

  # Additional Library Directories
  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${PCL_LIBRARY_DIRS} )

  # Additional Dependencies
  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${PCL_LIBRARIES} )
endif()

到configure CmakeLists.txt for OpenCV，代码如下：

cmake_minimum_required( VERSION 3.6 )

# Create Project
project( solution )
add_executable( project main.cpp )
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find OpenCV
set( OpenCV_DIR "C:/Program Files/opencv/build" )
find_package( OpenCV REQUIRED )

# Project Settings for OpenCV
if( OpenCV_FOUND )
  # Additional Include Directories
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${OpenCV_INCLUDE_DIRS} )

  # Additional Library Directories
  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${OpenCV_LIB_DIR} )

  # Additional Dependencies
  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${OpenCV_LIBS} )
endif()

如何制作 CmakeLists.txt 以同时使用两者？ PCL 和 OpenCV。

【问题讨论】：

标签： opencv cmake point-cloud-library

【解决方案1】：

在网站上找到了我得到这些文件的答案： http://unanancyowen.com/en/pcl18/#comment-1221

这是拉取 OpenCV 和 PCL 的代码：

cmake_minimum_required( VERSION 2.8 )
# Create Project
project( solution )
add_executable( project main.cpp )

# Set StartUp Project (Option)
# (This setting is able to enable by using CMake 3.6.0 RC1 or later.)
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find Packages
# Find PCL
find_package( PCL 1.8 REQUIRED )

# Find OpenCV
set( OpenCV_DIR "C:/Program Files/opencv/build" )
find_package( OpenCV REQUIRED )

if( PCL_FOUND AND OpenCV_FOUND )
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${PCL_INCLUDE_DIRS} )
  include_directories( ${OpenCV_INCLUDE_DIRS} )

  # [C/C++]>[Preprocessor]>[Preprocessor Definitions]
  add_definitions( ${PCL_DEFINITIONS} )

  # For Use Not PreCompiled Features 
  #add_definitions( -DPCL_NO_PRECOMPILE )

  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${PCL_LIBRARY_DIRS} )
  link_directories( ${OpenCV_LIB_DIR} )

  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${PCL_LIBRARIES} )
  target_link_libraries( project ${OpenCV_LIBS} )
endif()

在这个link 上有一个旧的解释，这里是我关于OpenCV here 的问题。

【讨论】：

你选择了“Visual Studio 14 2015 Win64”吗？最新的 (3.2.0) 预构建 OpenCV 包仅包含 Visual Studio 2015 x64 的库。因此，如果您只想使用 PCL 和 OpenCV 的预构建包，您应该使用 Visual Studio 2015 和 x64 目标作为开发环境。如果您想了解更多信息，我建议您发布到 OpenCV 的用户问答论坛。

【解决方案2】：

要在同一个项目中同时使用 PCL 和 OpenCV，你可以在最小行中编写 CMakeLists.txt 文件，如下所示：

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(project_name)

find_package(PCL 1.4 REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(${PCL_INCLUDE_DIRS} )
link_directories(${PCL_LIBRARY_DIRS} )
add_definitions(${PCL_DEFINITIONS} )

add_executable (project_executable main.cpp)
target_link_libraries (project_executable ${PCL_LIBRARIES} ${OpenCV_LIBS})

【讨论】：