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从源码编译 Open3D

About-Open3D​

从源码编译​

获取源码​

git clone --recursive https://github.com/intel-isl/Open3D

Open3D 中包含了很多第三方库，可以手动更新这些子模块

git submodule update --init --recursive

安装依赖​

需要 root 权限运行目录下的一个安装脚本

sudo su
util/install_deps_ubuntu.sh

编译​

如果需要编译 python 绑定，则先激活对应的虚拟环境

  • 如果不需要可以通过 -DBUILD_PYTHON_MODULE=OFF 关闭
mkdir build && cd build

如果只想保持默认，就不需要配置

cmake ..

如果提示 cmake 版本过低，可以到 cmake download 下载合适的版本

cmake 配置完成后

  • 开始编译，编译过程中会克隆很多的第三方库，最好先配置一下 git 的代理，不然编译很难完成
make -j$(nproc-2)
  • 不用拉满全部的线程来编译，留两个线程来翻翻文档

编译完成后

sudo make install

测试​

  • 测试用例 test-visualizer.cpp
#include <iostream>
#include <memory>
#include <thread>
#include <open3d/Open3D.h>

int main(int argc, char * argv[]) {
    std::cout << "Hello, Open3D!! " << std::endl;

    open3d::utility::SetVerbosityLevel(open3d::utility::VerbosityLevel::Debug);

    auto pcd = open3d::io::CreatePointCloudFromFile(argv[1]);
    
    // 1. test downsample
    auto downsampled = pcd->VoxelDownSample(0.05);
    {
        open3d::utility::ScopeTimer timer("FPFH estimation with Radius 0.25");
        open3d::pipelines::registration::ComputeFPFHFeature(*downsampled, open3d::geometry::KDTreeSearchParamRadius(0.25));
    }
    // 2. 估计点云的法向量
    {
        open3d::utility::ScopeTimer timer("Normal estimation with KNN20");
        for (int i = 0; i < 20; i++){
            downsampled->EstimateNormals(open3d::geometry::KDTreeSearchParamKNN(20));
        }
    }
    std::cout << downsampled->normals_[0] << std::endl;
    std::cout << downsampled->normals_[10] << std::endl;
    {
        open3d::utility::ScopeTimer timer("Normal estimation with Radius 0.01666");
        for(int i=0; i<20; i++){
            downsampled->EstimateNormals(open3d::geometry::KDTreeSearchParamRadius(0.01666));
        }
    }
    std::cout << downsampled->normals_[0] << std::endl;
    std::cout << downsampled->normals_[10] << std::endl;

    open3d::visualization::DrawGeometries({downsampled}, "TestPCD", 1920, 1080);

    
    return 0;
}

  • CMakeLists.txt

    cmake_minimum_required(VERSION 2.8)
    project(open3d_test)

    set(CMAKE_CXX_STANDARD 11)

    find_package( Open3D  REQUIRED)

    include_directories(${Open3D_INCLUDE_DIRS})
    link_directories(${Open3D_LIBRARY_DIRS})

    add_executable(test-visualizer test-visualizer.cpp)
    target_link_libraries(test-visualizer ${Open3D_LIBRARIES})

    target_include_directories(test-visualizer PUBLIC ${Open3D_INCLUDE_DIRS})

编译运行后

./test-visualizer <workspace-dir>/Open3D/examples/test_data/ICP/cloud_bin_0.pcd

结果如下

开始愉快的新知识学习 ~~~

补充​

编译测试Demo的时候，发现缺少了 C++ fmt 这个库，于是编译一下这个库

git clone  https://github.com/fmtlib/fmt.git
cd fmt/ && mkdir build && cd build
cmake ..
make
sudo make install
  • fmt 库会被安装到 /usr/local/ 目录下

还缺少 GLFW 库，同样对这个库进行编译

git clone https://github.com/glfw/glfw.git
cd glfw/
mkdir glfw-build && cd glfw-build
cmake ..
make
sudo make install
  • GLFW 库会被安装到 /usr/local/ 目录下

reference​